Configuration Research And Design Of Bionic Auxiliary Device For Ankle Rehabilitation

With various kinds of sports, human ankle will be bearing various impacts unceasingly, which makes the ankle be one of the most vulnerable joints in motion injury. Thus, after the ankle has an injury or operation, an important issue on how to make the ankle recover its function as soon as possible should be concerned. To realize the ankle’s rehabilitation, a new-type bionic auxiliary device for ankle rehabilitation based on some ball pin pairs is developed in this paper. The device has two degrees of freedom, which can approximately realize dorsiflexion / plantarflexion, introversion/extroversion and their composite motion. According to different stages of rehabilitation for some patients, we can choose different control modes, ranges and frequencies in motion to finish the ankle’s rehabilitation therapy.In this paper, firstly, general situation of the research for humanoid ankle joint mechanisms and ankle rehabilitation mechanisms at home and abroad are introduced. Secondly, according to some motion characteristics of the human ankle joint, mechanism model of the ankle joint is established. Based on the mechanism model, a mechanism scheme of auxiliary device for ankle rehabilitation is synthesized. The device has two degrees of freedom, which can approximately realize dorsiflexion / plantarflexion, introversion/extroversion and their composite motion. After confirming the mechanism scheme, motion modeling and simulation analysis on the device are performed in this paper. For a firm-soft combination drive pattern of the structure, the firm-soft combination drive and rigid drive pattern are conducted modeling analysis, respectively. The related calculation formulas are deduced and calculated by Matlab. Meanwhile, simulation analysis of the device is conducted by Recurdyn. The results obtained by Recurdyn are compared with those obtained by Matlab. On this basis, a control system of the device is studied. In the control system, hardware design mainly includes the selection of motor, the choice of the motion controller, etc. While, software design mainly includes software structure of the motor’s control module, communication of CAN bus, etc.Finally, an experiment platform of the device is constructed and the preliminary experiment is finished.