一种双自由度踝足康复训练机器人的设计与仿真  

Design and simulation of a 2-DOF ankle foot rehabilitation training robot

作　　者：吴海帆[1] 朱广亚 韩平吉 王汝鑫 李恩赐 李明新 陈铮 Wu Haifan;Zhu Guangya;Han Pingji;Wang Ruxin;Li Enci;Li Mingxin;Chen Zheng(College of Mechanical Engineering,Dalian University of Technology,Liaoning Dalian,116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机械设计与制造工程》2025年第4期81-86,共6页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(60875063)。

摘　　要：设计了一种双自由度脚踝康复训练机器人,可以实现踝关节的跖屈与背屈、内收与外展运动,其组合运动可以模拟医学中的踝泵运动。提出了一种基于微信小程序和ESP32单片机的控制系统,可以给患者带来更好的人机交互体验。对机构进行了运动学和动力学仿真计算,并基于ADAMS仿真软件对计算结果进行了验证。A 2-DOF ankle foot rehabilitation training robot is designed,which can realize plantar flexion and dorsiflexion,adduction and abduction movements of the ankle joint,and its combined movements can simulate the ankle pump movement in medicine for the rehabilitation training of the ankle joint for bedridden patients with hemiplegia due to stroke.A control system design based on WeChat applet and ESP32 microcontroller is proposed,which can bring better human-computer interaction experience to patients.The kinematics and dynamics of the mechanism are analyzed and calculated,and the calculation results are verified by simulation based on ADAMS simulation software.

关 键 词：踝足康复训练 踝泵运动 微信小程序 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]