Structural Design And Research On The Ankle Rehabilitation

Ankle rehabilitation device is an auxiliary product. The patients whose ankle is injured can use it to regain the ankle's function through rehabilitation training and strength training.With the acceleration of modern people's life, people have a highly demand on ankle rehabilitation care,so the research on the ankle joint rehabilitation has important scientific and practical value. It can not only improve people's living standards, but also meet the demand of "the Twelfth Five-Year Plan" on the service robot development requirements.A kind of ankle rehabilitation apparatus in series was designed and corresponding analysis was done. With the research of the current situation at home and abroad, this paper gives mechanical structure of the ankle joint rehabilitation device. After that, the CAE analysis, dynamic simulation and related experiments are carried out.First of all, the human ankle's structure and operation principles are studied based on the Human Factors Engineering. The structure scheme was come up with based on the ankle's parameters. Motion of ankle was divided into three parts and serious mechanism was chosen to realize the function. The components of the device are designed by Pro/E software.Secondly, the key parts' static analysis done based on the actual working condition and optimizations of the key parts are done based on the results. With the help of the model analysis on the whole structure, natural frequencies and mode shapes are identified. Such theory can make great contribution to use vibration to improve the effect of rehabilitation.Thirdly, the forward kinematics transformation is built by means of the Euler exchange.The dynamic models are built with the help of the SimMechanics module in MATLAB. After establishing the model, the dynamics simulation is carried out., which verify the results'reasonability. After that, the one DOF simulation with motor sever system is carried out using double close controller, which is of great help to realize the actual experimental control.Finally, the prototype of the ankle rehabilitation device was designed. A single DOF experiment under different speed on empty loads and real person load are carried out based on dSPACE semi-physical simulation platform, including one degree servo control experiments.The experimental results show that the prototype works stably and meet the requirements.