Trajectory Planning And Control Of "BSMS" Ankle Rehabilatian Robot

Rehabilitation Robot is a new technology that has been developed rapidly in recent years, and it represents a new application in the medical field. In this paper, considered that ankle injury is on a high-morbidity rate in our society, we designed a new-typed ankle rehabilitation robot and a new concept"Bio-Syncretic Mechanism System—BSMS"is given. Then, based on the kinematics and statics of the ankle rehabilitation robot mechanism, we did its trajectory planning which is good for ankle rehabilitating and designed its control system.Firstly,we discussed the type and cause of ankle injury , built the biomechanism model of ankle and rehabilitation movement by the related knowledges of medicine, such as anatomy, rehabilitation medicine and so on. And then, we analysed the kinematics of its mechanism based on kinematic influence coefficient theory, and got the formulation and curve about the driving units'velocity and acceleration in case of three basic types of rehabilitation movements.Secondly, we discussed the statics of the robot, deducted the force interaction between ankle active resistance and force origined from driving limbs, and the movement of driving limbs acted by ankle resistance.Based on statics, we used ADMAS to act the rehabilitation process of which trajectory we had already planned, and checked the correctness of the kinematics result by the measure function of ADAMS.Finally, we presented the control method based on"PC + controller"for robot system, and design the hardware and software of it.A human-Machine interactive interface was carried out by softwareVC++.