Abstract
The existing ankle rehabilitation robots are a mediocre specificity and detach from the human motion axis, in which the result of the ankle rehabilitation effect is not obvious. This paper investigates a kind of multi-mode parallel mechanisms, which accord with the movement requirements, with respect to the early-middle-late period of rehabilitation. First, based on the distribution characteristics of the axis of ankle motion, LBAs (limbs of the bio-syncretic axis) are given to satisfy the DOFs and anatomical characteristics of the ankle joint. An UPS limb is universally expressed as a muscle, which is transformed into an UPR limb that is connected with the screw theory of the LBA 1. Second, depending on the principle of human muscle movement, the equivalent models of inversion/eversion and abduction/adduction are obtained. We deduct five types of mechanisms based on these conditions, which is verified that the LBAs 1 and 3 mechanisms meet the movement requirements. Meanwhile, in order to realize the simple control, 32 types of driving limbs are configured in terms of the enumeration, and 128 types of mechanisms are obtained. The multi-mode ankle rehabilitation robot is adjusted to the corresponding rehabilitation mode according to the patient's situation, which has a wider application scope, stronger specificity and simple control.
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Acknowledgments
This work is supported by the National Natural Science Foundation of China (Grant No.52075145), Major Scientific and Technological Achievements Transformation Project of Hebei Province (Grant No.20281805Z), and the Central Government Guides Local Science and Technology Development Funds (Grant No.206Z1801G).
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Jia, W., Liu, C., Wei, J., Zhang, J. (2021). Configuration Synthesis of Multi-mode Ankle Rehabilitation Robot. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_10
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DOI: https://doi.org/10.1007/978-3-030-89092-6_10
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