Build Of Ankle Motion Model And Novel Ankle Rehabilitation Mechanism Design

The rehabilitation robotics study, which emerged during1980s, has been aresearch hotspot in the field of the international robot. Currently, rehabilitationrobotics research is focused on the following aspects: arm rehabilitation robot,rehabilitation manipulator, robot system for hospital, smart wheelchair, and artificiallimb. Among them, the study of ankle rehabilitation robotics is relatively a new one.Ankle joint is an important weight-bearing joint and an important movementjoint of body. Ankle injury is one of the most common injuries in sports and daily life.If be not treated in time or incompletely, ankle injury liable to lead to ankledysfunction.The purpose of this paper is to develop novel ankle rehabilitation mechanism.According to the rehabilitation requirements of ankle sprained patients, and in orderto overcome the deficiencies existed in current studies and commercial anklerehabilitation devices, this dissertation proposes three kinds of novel anklerehabilitation mechanism. In this paper, the following work is included:Firstly, the development and present situation of ankle rehabilitation mechanismin the world is introduced, and the advantages and deficiencies existed in currentstudies and commercial ankle rehabilitation devices are analyzed.Secondly, study and analysis the structure of ankle joint, ankle movement, anklesprained and ankle rehabilitation methods, and build the movement model of ankle.Thirdly, based on the abovementioned analysis, we propose three kinds of novelankle rehabilitation mechanisms. The three-dimensional solid models of proposedankle rehabilitation mechanisms are developed in SolidWorks system.Finally, we analysis the kinematics of the proposed ankle rehabilitationmechanisms, build the kinematics models and map out workspaces in the Matlabsoftware, import the three-dimensional solid models into the ADAMS software, andgive the motion simulation.