3R串联式踝关节康复训练器研究与设计

Research And Design of 3R Tandem Ankle Rehabilitation Trainer

针对当前踝关节康复训练机器人运动范围小,因三关节运动存在耦合导致控制系统复杂的问题,设计了一款具有三个独立自由度,且三个转轴互相正交的踝关节康复训练器。通过优化传动结构使三个转轴末端直接与角位移传感器连接,可以实时监测关机转角变化,康复训练器的转轴中心与踝关节运动中心重合,使康复训练器结构更符合人机工程学要求;康复训练师可根据患者踝关节恢复情况,为患者定制对应的治疗方案。

Aiming at the problem that the motion range of the current ankle joint rehabilitation training robot is small and the control system is complicated due to the coupling of three-joint motion,an ankle joint rehabilitation trainer with three independent degrees of freedom and three orthogonal axes is designed.By optimizing the transmission structure,the end of the three rotating shafts are directly connected with the angular displacement sensor,which can monitor the change of shutdown Angle in real time.The rotating shaft center of the rehabilitation trainer is cooverlapping with the ankle joint movement center,which makes the structure of the rehabilitation trainer more in line with the ergonomic requirements.The rehabilitation trainer can customize the corresponding treatment plan for the patient according to the recovery of the patient's ankle joint.