Objective The current ankle rehabilitation structures face challenges,such as the misalignment between the structure rehabilitation center and the joint rehabilitation center,as well as the inability to meet patients'needs for multi-posture rehabilitation.To address these issues,a knee and ankle rehabilitation bionic robot was designed by mimicking the movement of human lower limbs.Methods The movement of human lower limbs was analyzed,and the TRIZ theory was employed to resolve physical contradictions.A knee and ankle rehabilitation mechanism was proposedby using a spatial separation method,and the degrees of freedom of the mechanism were calculatedwith the Kutzbach-Grübler formula.A kinematic model of the knee and ankle rehabilitation bionic ro-bot was established.The physiological motion space of the ankle joint and the workspace of the rehabilitation ro-bot were analyzed and comparedby using MATLAB.Additionally,thekinematic simulations were performed in MATLAB and ADAMS,andthe error analysis was conducted to verify the stability of the robot's rehabilitation movements.Results A knee and ankle rehabilitation bionic robot was successfully designed,meeting the demand for three-dimensional ankle rehabilitation.The motion space of the mechanismwas closely aligned with the physi-ological motion space of the ankle joint,and the error analysis confirmed the stability of the robot's rehabilitation movements.Conclusion The designed knee and ankle rehabilitation bionic robot can effectively facilitate ankle re-habilitation.The bionic structure resolves the issue of misalignment between the mechanical rehabilitation center and the joint rehabilitation center,meeting the patients'needs for rehabilitation in multiple postures and providing a viable approach to ankle rehabilitation.
关键词
膝踝关节/康复机器人/TRIZ理论/仿生/动力学
Key words
knee and ankle/rehabilitation robot/TRIZ theory/bionics/dynamics
维普
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