Development Of Self-Training Ankle Rehabilitation Robot

With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed based on the analysis of ankle structure and rehabilitation therapy. And the control system was built up and the experiments were carried out.Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. The ankle model is built based on the analysis of ankle structure and ankle movement. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed.Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the ankle robot was manufactured and assembled.In the development of control system, the hardware configuration was built up based on control model and each part was introduced in detail and finish type selection. Then, the control strategies including position control and force control were presented by adding the outer loop feedback to speed control. After that, the software system was developed based on C++builder, which mainly included the realization of active training, passive training, subjective awareness and objective training.Finally, the experiments including mechanism test and software test were established. In the mechanism test, torque compensation was carried out to ensure the accuracy of data. Velocity response and positioning accuracy test were established to verify the rapidity, accuracy and stability of the control system. Then, the passive training, active training, subjective awareness and objective training experiments were established. The experimental results show that the designed robot can be applied in ankle rehabilitation training successfully.