A New Type of Ankle-Foot Rehabilitation Robot Based on Muscle Motor Characteristics

Abstract

Ankle injury and dysfunction are always accompanied by abnormal peripheral tissues. In order to achieve a more comprehensive rehabilitation training, this article firstly studies the movement characteristics of the surrounding muscles of the ankle-foot. The human musculoskeletal model in OpenSim is used for human exercise experiment. And the relationship between different muscles around the anklefoot and the direction of the ankle-foot movement are measured respectively, so as to formulate ankle-foot static/dynamic rehabilitation strategies related to the auxiliary training of the ankle-foot muscle. In order to implement the established rehabilitation exercise strategy and to reduce the control difficulty of rehabilitation robot, a new type of decoupling series-parallel mechanism with three rotations and one movement is proposed. After analyzing the degree of freedom and the positive kinematics solution, it is proved that it is completely decoupled in kinematics, can realize the independence of motion control, and there is no singular space. Then, under the premise of meeting the space required for the implementation of the rehabilitation strategy, the proposed new ankle-foot rehabilitation robot is optimized in terms of structure and component size, which improves its space utilization and optimizes the overall mechanical performance. Finally, the dynamic simulation experiment is carried out with the dynamic rehabilitation strategy as the goal, which proves that the robot can realize the normal gait simulation movement in sitting posture, and the motion control of the robot is independent of each other and shows good dynamic performance. Through investigation, the ankle-foot rehabilitation robot designed in this article is costeffective.

Ankle rehabilitation research on position control using pneumatic artificial muscles

“…The flexible ankle rehabilitation robot with Bowden wire as a transmission device was developed by Yi Shuai et al [9] at Xi'an Jiaotong University, which could adapt to users of different body sizes and achieve ankle force assist function during walking by combining gait motion intention recognition algorithm and Bowden wire trajectory generation algorithm. An affordable ankle-foot orthosis that can help with natural ankle flexion and extension was created by Kwon et al [10] using 3D printed materials for post-stroke patients; A robot for ankle rehabilitation created by Zeng et al [11] with kinematic decoupling has three degrees of rotational freedom and one degree of movement freedom.…”

Development of Abdominal Center Strength in Aerobic Gymnastics Athletes

“…At present, the research on core strength training in competitive aerobics projects mainly focuses on the impact of core strength training on the physical quality of athletes, while the specific impact of core strength training on the difficulty of competitive aerobics is less. 2,3…”

Algorithm for Controlling the Movement of the Actuator of the Device for Active-Passive Mechanotherapy of the Ankle Join

“…Для того, чтобы снизить процент осложнений широко применяется метод непрерывного пассивного движения (НПД). Для его реализации последние годы появляются медицинские приборы механотерапии, позволяющие ускорить процесс восстановления больного [12][13][14][15]. Особенно эффективными оказываются роботизированные устройства реабилитации, которые, благодаря обратным связям и управляемым электроприводам могут выполнять движения нижних конечностей оптимальным способом [16].…”