Design of Intelligent Wheelchair for Ankle Joint Rehabilitation Training
Objective In view of the current situation of poor adaptability and training effect of lower limb rehabilitation training equipment,to design an intelligent assisted wheelchair for ankle joint rehabilitation of surgical patients,cerebral thrombus patients and people with lower limb disabilities.Methods Through the analysis of the human ankle joint structure and movement characteristics,the overall structure of the ankle joint rehabilitation mechanism was designed,and the control circuit was designed with STM32F103 single chip microcomputer.The three-dimensional model was established based on CATIA software,and the dynamic analysis was carried out on the platform combined with Adams simulation software.The static analysis of the core parts of the assisted wheelchair was carried out with ANSYS software to verify the feasibility of the structural design.The physical prototype was selected,assembled and built,and the functions and actual performance of the physical prototype was tested.Results Through simulation analysis,the ankle joint rehabilitation mechanism met the design standard.The actual longitudinal rotation angle of the ankle was-24.6°-13.5°,the transverse rotation angle was-19.6°-19.5°,the rotation speed of the ankle was 5.8-6.7 °/s,the rotation speed of the ankle was about 7.6 °/s,and torque of the ankle joint folding movement was about 20 N·m.The torque required for the abduction movement was approximately 17.2 N·m.Conclusion The intelligent assisted wheelchair for ankle joint rehabilitation can meet the walking,lifting,intelligent assistance and other functions.Through simulation analysis and experimental tests,all the functions of the wheelchair can be realized,and the parameters meet the design standards,which verifies the safety and rationality of the design of the multi-functional ankle rehabilitation wheelchair.