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 t...
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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.
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 ex...
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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 ...
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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...
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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 ...
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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 ex...
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.
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...
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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.
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 o...
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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.
In this paper, a concept of parallel mechanisms with configurable–structural platforms (CSPs) based on configurable platforms (CP) is proposed. When the self-deformable motion of the configurable platform is constrai...
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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...
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