Development of parallel ankle rehabilitation robot and motion control strategy

被引：1
|
作者：
Li J. [1 ]
Zhang Z. [1 ]
Zhang L. [1 ]
Dong M. [1 ]
Zuo S. [1 ]
Zhang K. [1 ]
机构：
[1] School of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing
来源：
Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | 2019年 / 50卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Active rehabilitation; Ankle rehabilitation; Force and position information; Human-machine interaction; Passive rehabilitation;
D O I：
10.11817/j.issn.1672-7207.2019.11.014
中图分类号：
学科分类号：
摘要：
A 2-UPS/RRR parallel ankle rehabilitation robot was proposed for ankle dysfunction patients to assist the ankle joint during plantarflexion/dorsiflexion, inversion/eversion and adduction/abduction rehabilitation training. The ankle rehabilitation robot system contains mechanical body, driving motor, encoder and force/torque sensor, software and hardware of host computer and slave computer, and possesses the functions of dynamic information detection and active/passive rehabilitation training. According to the kinematic model of the ankle rehabilitation robot, the mapping relationship between the actuator drive speed and the angular velocity was obtained. Based on the ankle strength level and training requirements of the patients, the rehabilitation trajectory was planned and the passive training was performed. The ankle motion intention of patients was recognized based on the information of force/torque sensors. The rehabilitation robot was controlled by the motion intention and the active rehabilitation training was carried out. Furthermore, eight healthy subjects were enrolled to participate in the active/passive training experiments for three different movement modes. The results show that the ankle rehabilitation robot possesses a compatible rehabilitation strategy and favorable movement stability. © 2019, Central South University Press. All right reserved.
引用
收藏
页码：2753 / 2762
页数：9
相关论文
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