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Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

Chinese Journal of Mechanical Engineering 2024年第1期37卷 176-188页

作者： Jianjun Zhang Shuai Yang Chenglei Liu Xiaohui Wang Shijie Guo School of Mechanical Engineering Hebei University of TechnologyTianjin 300401China Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin 300401China

The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation ***,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle *** parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar *** screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is *** inverse kinematics are presented,and singularities are identified based on the Jacobian *** workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle ***,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical *** results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

关键词： Ankle rehabilitation Parallel mechanism Kinematic analysis Parameter optimization

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Active Disturbance Rejection Control of Lower Limb Exoskeleton Based on Genetic Algorithm 42

Active Disturbance Rejection Control of Lower Limb Exoskelet...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Jinbao Ni, Lei Wei, Jun Liu, Jixiao Zhang, Jianjun Guo, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Key Laboratory of Robot Perception and Human-Machine Fusion of Hebei Province Tianjin300401 China

ISBN: (纸本)9789887581543

Aiming at the problem of movement disorders in the elderly or people with lower limb muscle function degradation caused by diseases, this paper designs an exoskeleton robot that can provide assistance for human hip extension and flexion. According to the gait characteristics of the hip joint during walking, an assist strategy and an assist function are proposed to control the motor to track the desired assist curve, so that the exoskeleton robot can provide assistance to the human hip joint. In order to reduce the influence of external interference and improve the assist effect, active disturbance rejection control based on genetic algorithm is introduced. Finally, the tracking performance and anti-interference performance of the controller are verified by simulation, and the prototype of the lower limb exoskeleton robot and the corresponding experimental platform are built to evaluate the assist effect. Through the walking experiment, the change of hip joint torque under the condition of human motion is observed. It is found that the hip joint torque under the condition of power is lower than that without power. The above simulation and experiment verify that this method can improve the assist performance of the exoskeleton robot and provide effective assistance to the human body. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Genetic algorithms

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A Rigid Origami Nursing Bed Support Mechanism That Is Able to Fit into human Body Curve 23rd

A Rigid Origami Nursing Bed Support Mechanism That Is Able t...

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23rd IFToMM China International Conference on Mechanism and machine Science and Engineering, IFToMM CCMMS 2022

作者： Lv, Weilin Nie, Wansui Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300400 China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Hebei University of Technology Tianjin300400 China

ISBN: (纸本)9789811993978

A nursing bed is helpful for patients confined to the bed for a long period of time and rigid origami is a potential source for designing support mechanism of nursing beds. This paper presents a rigid origami nursing bed support mechanism that is able to fit into human body curve. Firstly, the relation between degree-4 origami vertex and spherical 4R linkages is introduced, together with the kinematics of spherical 4R linkages. Secondly, the origami pattern of the support mechanism is proposed, and the kinematics of the back board, which can be folded to fit into human body curve, is analyzed. Finally, the back-lifting, turning and leg-lifting mechanism of the support mechanism is introduced together with their kinematics. The mechanism proposed in this paper provides multiple choices for the design of nursing beds. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kinematics

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Configuration Synthesis of 4 DOF Knee Rehabilitation Parallel Mechanism Based on Multiset Theory 16th

Configuration Synthesis of 4 DOF Knee Rehabilitation Paralle...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Zhongxin Yu, Bin Wang, Jinbao Song, Jingke Wei, Jun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

ISBN: (纸本)9789819965007

The occurrence of diseases and accidental damage cause many people to have knee motion dysfunction, the synthesis design of the knee joint rehabilitation mechanism is of great significance. This paper proposes a new 4 DOF (degree-of-freedom) motion equivalent model of knee joint, and the limb synthesis and configuration synthesis of 4 DOF parallel rehabilitation mechanism of knee joint are carried out. Firstly, according to the physiological characteristics of the knee joint and the three non-negligible motion characteristics of the knee joint, a 4 DOF motion equivalent model of the knee joint that is more in line with the knee joint motion is obtained, and the motion screw system and constraint screw system of this model are obtained, Configuration synthesis conditions are proposed. Second, the type of limb constraint is obtained according to the configuration synthesis conditions, and the limb synthesis is carried out by using screw correlation and reciprocity. Finally, the constraint types of the moving platform are classified by using the constraint screw multiple set theory, and the configuration synthesis of each type is carried out, a large number of knee joint 4 DOF parallel rehabilitation mechanisms that meet the requirements are obtained. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Screws

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Kinematics Analysis of the Wearable Waist Rehabilitation robot 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Qi, Kaicheng Fu, Kefei Wei, Jun Lui, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Patients with lumbar injuries are becoming more common and there is a shortage of intelligent rehabilitation equipment. A wearable lumbar rehabilitation robot for the treatment of low back pain disease is designed to help patients recover their lumbar motion. Firstly, the motion characteristics of the human lumbar spine and its range of motion is determined, and based on the size and range of motion of the human lumbar spine, the configuration design of the lumbar rehabilitation robot is proposed, and a 2-PUU/2-PUS parallel mechanism with three rotations and one translation is proposed;then the degree of freedom(DoF) analysis is carried out based on the screw theory;Finally, the kinematic inverse solution analysis is performed based on the Euler transformation and the geometrical characteristics of this parallel mechanism respectively, and validated based on the established virtual prototype model, and the results show that the mechanism motion characteristics meet the requirements of lumbar rehabilitation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Kinematics

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Active Disturbance Rejection Control of Lower Limb Exoskeleton Based on Genetic Algorithm

Active Disturbance Rejection Control of Lower Limb Exoskelet...

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Chinese Control Conference (CCC)

作者： Jinbao Wang Lei Ni Jun Wei Jixiao Liu Jianjun Zhang Shijie Guo School of Mechanical Engineering Hebei University of Technology Tianjin Key Laboratory of Robot Perception and Human-Machine Fusion of Hebei Province Tianjin

关键词：

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Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 87-104页

作者： Jingke Song Jun Wei Bin Yu Chenglei Liu Cunjin Ai Jianjun Zhang School of Mechanical Engineering Hebei University of TechnologyTianjin 300401China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin 300130China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin 300130China

Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion *** parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of ***,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is *** to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried ***,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its ***,the kinematics of the parallel ankle rehabilitation robot is ***,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.

关键词： Ankle rehabilitation robot Double-VMCs mechanism Kinematic performance human-machine rehabilitation simulation

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Conformational Design and Kinematic Analysis of a Reconfigurable Ankle Rehabilitation robot

Conformational Design and Kinematic Analysis of a Reconfigur...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Jun Wei Haidong Ni Jianjun Zhang Hebei Key Laboratory of Robot Perception and Human-Machine Fusion School of Mechanical Engineering Hebei University of Technology Tianjin PR China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianiin China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The ankle joint bears the most weight of the human joint, every year there are many people suffer from different types and degrees of ankle injuries, and their rehabilitation needs are diversified, in order to carry out targeted rehabilitation for ankle injuries, a reconfigurable ankle rehabilitation robot with seven modes is designed. Firstly, the skeletal structure of the human ankle joint as well as the form of movement were determined. Based on the physiological structure, size and movement mode of the human ankle joint, the reconfigurable ankle rehabilitation robot was configured and designed, and a parallel mechanism with seven rehabilitation modes was proposed, and the overall layout of the mechanism is introduced, and then the design of each branch chain of the mechanism is elaborated, and the switching between modes is introduced, and the degrees of freedom and the nature of motion of the mechanism are analyzed in each mode. Finally, the degree of freedom analysis was carried out based on the spiral theory; finally, the kinematic inverse solution of the mechanism in each mode was solved and verified by simulation, and the results showed that this reconfigurable ankle rehabilitation mechanism meets the demand of ankle rehabilitation.

关键词： Ankle Spirals Layout Government Kinematics Switches Assistive robots

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A Novel Construction Method for 1-Dof Multi-Loop Kirigami Mechanisms

SSRN

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SSRN 2024年

作者： Lv, Weilin Nie, Wansui Wei, Jun Zhang, Jianjun Meng, Chuizhou Liu, Teng Sui, Jin Guo, Shijie Engineering Research Center The Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei University of Technology Tianjin300401 China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Hebei University of Technology Tianjin300401 China School of Mechanical Engineering Hebei University of Technology Tianjin300401 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Kirigami has been utilized in designing deployable mechanisms for various engineering applications. This paper presents a novel construction method for one-degree-of-freedom (1-DOF) multi-loop kirigami mechanisms whose folding motions are kinematically equivalent to their original degree-4 rigid origami. Firstly, we introduce a family of single-loop kirigami (SLK) as the main loop of 1-DOF multi-loop kirigami. Secondly, the coupling-constraint properties of multi-DOF SLKs are clarified, and the structural characteristics of the 1-DOF multi-loop kirigami are defined, based on which, the construction method for the 1-DOF multi-loop kirigami is proposed. Thirdly, the representative models are selected and their kinematics are presented to demonstrate their capability to achieve folding motion equivalent to their origami prototypes, thus verifying the validity of our proposed methodology. Fourthly, the non-constraint condition of the 1-DOF multi-loop kirigami is presented. Finally, we propose extended configurations of 1-DOF multi-loop kirigami and provide the forward and inverse design methods for constructing kirigami meshes. The proposed methodology facilitates the design of large-scale deployable structures. © 2024, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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On the Study of Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

Research Square

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Research Square 2021年

作者： Zhang, Jianjun Yang, Shuai Liu, Chenglei Wang, Xiaohui Guo, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Hebei Province Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin300130 China

The kinematic equivalent model of the existing ankle rehabilitation robot is inconsistent with the anatomy structure of the human ankle, which will influence the rehabilitation effect. Therefore, this paper equivalent the human ankle to the UR model and proposes a novel 3-DOF generalized spherical parallel mechanism for ankle rehabilitation. The parallel mechanism has two spherical centers corresponding to the rotation center of the tibiotalar joint and subtalar joint. Via screw theory, the mobility of the parallel mechanism is analyzed, which meets the requirement of the human ankle. Its inverse kinematics is presented and singularities are identified based on the Jacobian matrix. The workspaces of the parallel mechanism are obtained by the search method and compared with the motion range of the human ankle, which shows that the parallel mechanism could meet the motion demand of ankle rehabilitation. In addition, on the basis of the motion/force transmissibility, the performance atlases are plotted in the parameter optimal design space and the optimum region is obtained according to the demands of practical application. The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and have excellent kinematic performance in its rehabilitation range, which provides a theoretical basis for the prototype design and experiment verification. © 2021, CC BY.

关键词： Inverse problems

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