Research On Ankle Joint Multi-dof Rehabilitation Robot

Relevant studies have shown that the rate of aging in my country is accelerating,and with the increase of the elderly population,the number of stroke patients with hemiplegia is also increasing.Studies have shown that functional electrical stimulation has a beneficial effect in the treatment of stroke patients with hemiplegia.There are also relevant studies showing that early stroke patients with hemiplegia,after timely rehabilitation exercise training,can help restore the functional activities of the injured body,prevent muscle atrophy,and stimulate the reconstruction of the motor nervous system through rehabilitation training actions,and finally restore the patient.athletic ability.The traditional rehabilitation training method is that rehabilitation physicians perform rehabilitation exercise training on the patient’s limbs,which is a great challenge to medical resources and rehabilitation physicians.The research on rehabilitation training robots has reduced the work pressure of rehabilitation physicians,can better provide patients with rehabilitation training methods,and improve the effect of rehabilitation training.Based on practical considerations and research status,this paper designs an ankle joint rehabilitation training robot to perform rehabilitation training for ankle deformity caused by stroke patients with clubfoot.The main research contents of this paper are as follows:(1)Design a robot that meets the needs of rehabilitation training for stroke patients with clubfoot in combination with the motion forms that the ankle joint can produce and the rehabilitation training actions required for ankle joint injury.The design of the ankle joint rehabilitation training robot includes the design of the mechanical structure of the body and the design of the control system.This paper focuses on the design of the mechanical structure of the robot body.If the posture of the rehabilitation training is sitting and straight knee rehabilitation,the robot body design should be based on the difference in the length of the lower limbs of different patients,and the lower limb adjustable mechanism should be designed.In order to make the power output shaft of the rehabilitation training robot and the motion axis of the ankle on the same axis,an adjustable ankle mechanism is designed to achieve this rehabilitation training requirement.The power output part of the robot,the motor and the reducer are also designed and selected.(2)In this paper,the corresponding muscle groups of the calf were studied on the plantar flexion and dorsiflexion of the ankle joint,and it was determined that the tibialis anterior muscle played a major role in the dorsiflexion of the ankle joint.The research of functional electrical stimulation on the contraction of corresponding muscle stimulation confirms that functional electrical stimulation can be applied in rehabilitation training,and the basic parameters of functional electrical stimulation are designed and analyzed.(3)In this paper,the surface EMG signal generated by functional electrical stimulation to the corresponding muscle stimulation is studied,and a surface EMG signal acquisition system is designed.The beneficial effect of contraction.(4)It is verified by experiments that the ankle rehabilitation training robot designed in this paper can achieve the expected rehabilitation training actions and the effectiveness of the rehabilitation training.The functional electrical stimulation is combined with the ankle joint rehabilitation training robot,and the feasibility and effectiveness of the combination of the two rehabilitation training methods are verified through experiments.