Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers  

作　　者：Jingke Song Jun Wei Bin Yu Chenglei Liu Cunjin Ai Jianjun Zhang 

机构地区：[1]School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China [2]Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion,Tianjin 300130,China [3]Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education,Tianjin 300130,China

出　　处：《Chinese Journal of Mechanical Engineering》2023年第6期87-104,共18页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.52075145);S&T Program of Hebei Province of China(Grant No.20281805Z);Hebei Provincial Natural Science Foundation of China(Grant No.E2022202130);Central Government Guides Basic Research Projects of Local Science and Technology Development Funds of China(Grant No.206Z1801G).

摘　　要：Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion mechanism.The parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of patients.Firstly,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is established.According to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried out.Secondly,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its derivative.Then,the kinematics of the parallel ankle rehabilitation robot is analyzed.Finally,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.

关 键 词：Ankle rehabilitation robot Double-VMCs mechanism Kinematic performance Human-machine rehabilitation simulation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]