Research And Design of 3 R Tandem Ankle Rehabilitation Trainer
Aiming at the problem that the motion range of the current ankle joint rehabilitation training robot is small and the control system is complicated due to the coupling of three-joint motion,an ankle joint rehabilitation trainer with three independent degrees of freedom and three orthogonal axes is designed.By optimizing the transmission structure,the end of the three rotating shafts are directly connected with the angular displacement sensor,which can monitor the change of shutdown Angle in real time.The rotating shaft center of the rehabilitation trainer is cooverlapping with the ankle joint movement center,which makes the structure of the rehabilitation trainer more in line with the ergonomic requirements.The rehabilitation trainer can customize the corresponding treatment plan for the patient according to the recovery of the patient's ankle joint.
ankle rehabilitation trainerrange of motioncouplingcontrol system
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