踝关节康复机构的结构设计与训练规划

Structural Design and Training Planning for Ankle Rehabilitation Mechanisms

为了保证踝关节康复训练的效果和安全性,设计了一种基于3-UPRU/S并联构型的踝关节康复机构及其脚部固定与快放组件,并对其运动性能与训练规划进行了研究。考虑到踝关节生理回转中心与机构转动中心不重合的影响,应用Adams软件建立了康复机构的脚踝虚拟模型,并利用角速度规划的方法对S型与T型角速度曲线进行优化,得到了一种更优的训练规划;通过逆运动学仿真,得到机构各促动器的位移数据,并使用样条拟合确定了各促动器的驱动函数;通过原理样机试验,进行了实际工作角度与训练规划的验证。结果表明,优化后该康复机构1个周期内增加了约12%的匀速训练时间,并减少了约47%的角速度波动;该训练规划能够提高踝关节康复的效果以及安全性。

In order to ensure the effectiveness and safety of ankle rehabilitation training, an ankle rehabilitation mechanism based on the 3-UPRU/S parallel configuration and its foot fixation and quick release components are designed, and its motion performance and training planning are investigated. A virtual model of the rehabilitation mechanism is established using Adams software. Taking into account the influence of the non-coincidence between the physiological center of the rotation of the ankle joint and the center of the rotation of the mechanism, the virtual model of the ankle is introduced and the S-shaped and T-shaped angular velocity curves are optimized using angular velocity planning to obtain a better training plan. The displacement data of each actuator of the mechanism is obtained by inverse kinematic simulation, and the drive function of each actuator is determined using spline fitting. The actual working angle and training plan are verified by means of a principle prototype test. The results show that the optimized mechanism can increase the training time at constant speed by approximately 12% and reduce the angular velocity fluctuations by approximately 47% in one cycle, indicating that the training plan can improve the effectiveness and safety of the ankle rehabilitation.