Design And Control Of Ankle Rehabilitation Decoupled Parallel Robot

Ankle rehabilitation robot is a kind of novel rehabilitation robot which involves many principles such as medicine machine and electronics etc.it is primarily applied to help patients with ankle sprain complete rehabilitation exercises,restore damage joints movement function.Since the robot is in direct contact with human body,so its design must meet the requirements of safe,comfortable and effective.At present,ankle rehabilitation robot has been study widely in home and abroad.Scholars have developed a wide variety of rehabilitation robots.This paper analyzesthe existing ankle rehabilitation robots,puts forward a parallel mechanism with movement decoupling used for ankle rehabilitation robot in an ankle structural and rehabilitative perspective,and then carries on the kinematics analysis and control system design.Main contents of this paper are as follows:Kinematics and performance analysis of RRR-PaRPS-RHJ parallel mechanism.Firstly,a 3-DOF rotational parallel mechanism with a special chain containing homokinetic joints is introduced;Then,kinematic mode is created to analysis the forward and inverse solutions of its movement positions and to derive the Jacobian matrixes under the fixed coordinate system and moving coordinate system;According to Jacobian matrix,the movement coupling performance of mechanism in different coordinate systems is analyzed;Finally,the kinematic simulation of this mechanism was performed by ADAMS.As a result,the correctness of theoretic analysis is proved.Simulation analysis of RRR-PaRPS-RHJ parallel mechanism.Based on the ankle joint structure and movement mode,working space is plotted by taking the centroid point of the mobile platform as the object of research;The four kinds of essential rehabilitation movement pattern of human ankle,including abduction/abduction,dorsiflexion/plantar flexion,inversion/eversion and compound movement are simulated by ADAMS software;In addition Torque is applied at moving platform to analysis statics problem between applied load and driving moment during ankle rehabilitation training.The design of ankle rehabilitation robot control system.Firstly,according to rehabilitation medicine,there are three types of rehabilitation training mode:passive traction training,power-assisted training and resistance training;Secondly,the control strategies of three rehabilitation training modes are presented.Passive traction training and power-assisted training are conducted by position control algorithm;resistance training is completed by the position-based impedance control algorithm.The co-simulation of ankle rehabilitation robot.In order to analysis ankle rehabilitation robot from the point of mechanical and control systems,the virtual prototype model of RRR-PaRPS-RHJ parallel mechanism is imported into MATLAB/Simulink through ADAMS/Control plugin.Then,the simulation platforms of three rehabilitation training control strategies are built to measure system response to different input signals and analysis the rationality and feasibility of the ankle rehabilitation robot.