Structural Design and Training Planning for Ankle Rehabilitation Mechanisms
In order to ensure the effectiveness and safety of ankle rehabilitation training, an ankle rehabilitation mechanism based on the 3-UPRU/S parallel configuration and its foot fixation and quick release components are designed, and its motion performance and training planning are investigated. A virtu...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2023-03-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.03.010 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547038215372800 |
|---|---|
| author | Li Jingjing Han Chunyang Xu Zhenbang |
| author_facet | Li Jingjing Han Chunyang Xu Zhenbang |
| author_sort | Li Jingjing |
| collection | DOAJ |
| description | In order to ensure the effectiveness and safety of ankle rehabilitation training, an ankle rehabilitation mechanism based on the 3-UPRU/S parallel configuration and its foot fixation and quick release components are designed, and its motion performance and training planning are investigated. A virtual model of the rehabilitation mechanism is established using Adams software. Taking into account the influence of the non-coincidence between the physiological center of the rotation of the ankle joint and the center of the rotation of the mechanism, the virtual model of the ankle is introduced and the S-shaped and T-shaped angular velocity curves are optimized using angular velocity planning to obtain a better training plan. The displacement data of each actuator of the mechanism is obtained by inverse kinematic simulation, and the drive function of each actuator is determined using spline fitting. The actual working angle and training plan are verified by means of a principle prototype test. The results show that the optimized mechanism can increase the training time at constant speed by approximately 12% and reduce the angular velocity fluctuations by approximately 47% in one cycle, indicating that the training plan can improve the effectiveness and safety of the ankle rehabilitation. |
| format | Article |
| id | doaj-art-7c13f6bdb6f845ff99e92bb40ba285b3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7c13f6bdb6f845ff99e92bb40ba285b32025-01-10T14:57:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-03-0147717735810225Structural Design and Training Planning for Ankle Rehabilitation MechanismsLi JingjingHan ChunyangXu ZhenbangIn order to ensure the effectiveness and safety of ankle rehabilitation training, an ankle rehabilitation mechanism based on the 3-UPRU/S parallel configuration and its foot fixation and quick release components are designed, and its motion performance and training planning are investigated. A virtual model of the rehabilitation mechanism is established using Adams software. Taking into account the influence of the non-coincidence between the physiological center of the rotation of the ankle joint and the center of the rotation of the mechanism, the virtual model of the ankle is introduced and the S-shaped and T-shaped angular velocity curves are optimized using angular velocity planning to obtain a better training plan. The displacement data of each actuator of the mechanism is obtained by inverse kinematic simulation, and the drive function of each actuator is determined using spline fitting. The actual working angle and training plan are verified by means of a principle prototype test. The results show that the optimized mechanism can increase the training time at constant speed by approximately 12% and reduce the angular velocity fluctuations by approximately 47% in one cycle, indicating that the training plan can improve the effectiveness and safety of the ankle rehabilitation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.03.010Ankle jointRehabilitation mechanismInverse kinematicsAdams softwareTraining planningSpline fitting |
| spellingShingle | Li Jingjing Han Chunyang Xu Zhenbang Structural Design and Training Planning for Ankle Rehabilitation Mechanisms Jixie chuandong Ankle joint Rehabilitation mechanism Inverse kinematics Adams software Training planning Spline fitting |
| title | Structural Design and Training Planning for Ankle Rehabilitation Mechanisms |
| title_full | Structural Design and Training Planning for Ankle Rehabilitation Mechanisms |
| title_fullStr | Structural Design and Training Planning for Ankle Rehabilitation Mechanisms |
| title_full_unstemmed | Structural Design and Training Planning for Ankle Rehabilitation Mechanisms |
| title_short | Structural Design and Training Planning for Ankle Rehabilitation Mechanisms |
| title_sort | structural design and training planning for ankle rehabilitation mechanisms |
| topic | Ankle joint Rehabilitation mechanism Inverse kinematics Adams software Training planning Spline fitting |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.03.010 |
| work_keys_str_mv | AT lijingjing structuraldesignandtrainingplanningforanklerehabilitationmechanisms AT hanchunyang structuraldesignandtrainingplanningforanklerehabilitationmechanisms AT xuzhenbang structuraldesignandtrainingplanningforanklerehabilitationmechanisms |