Development Of Ankle Rehabilitation Training Device And Evaluation Of Rehabilitation Effect

Ankle rehabilitation training device,also known as ankle rehabilitation training robot,belongs to the field of medical robot research and rehabilitation engineering.In recent years,with the continuous improvement of social medical standards and people’s living standards,the demand for medical robots is also increasing^[1].The development of medical robot has brought great convenience to the society,and the research of ankle rehabilitation training robot is of far-reaching significance to human health,especially to the elderly.On the one hand,ankle rehabilitation training can effectively promote blood reflux of human lower extremities,and then play a positive role in preventing venous thrombosis in some bedridden patients such as stroke and hemiplegia for a long time.On the other hand,as the largest load-bearing joint of the human body,ankle injury occurs from time to time in young people,and its postoperative rehabilitation training also plays a positive role in preventing joint adhesion and joint functional recovery.In addition,the aging of the world population has become a common social problem,as well as the realistic social needs of stroke,ankle injuries and other diseases,ankle medical rehabilitation equipment ushered in the opportunity for development.Based on this,a kind of ankle rehabilitation training device for medical rehabilitation training is proposed in this paper.the main contents are as follows:First of all,according to the physiological structure and movement characteristics of human ankle joint,a two-degree-of-freedom series ankle rehabilitation training device for bedridden patients is designed.The structure is modeled and analyzed and simulated by using complex vector method,Lagrangian dynamics algorithm,Solid Works and Adams multibody dynamics analysis software,and the training mode of the designed ankle rehabilitation training device is studied.A variety of modes are developed,such as circular trajectory,transverse serpentine trajectory,longitudinal serpentine trajectory,extensional ellipse trajectory and so on,which provide a reference for the development of training mode for specified muscle groups.Secondly,the man-machine rehabilitation effect evaluation model based on biomechanical simulation software AnyBody is built,and the single rehabilitation training mode and compound rehabilitation training mode of the designed ankle rehabilitation training equipment are evaluated respectively.At the same time,the relevant parameters which directly affect the movement calculated according to the theory are parameterized and analyzed,and the best rehabilitation structure size suitable for the population of 95th percentile in China is obtained,and the movement space of the metatarsal tip of one foot is briefly analyzed through the robot toolbox of Matlab.Then,the physical and control system model of the ankle rehabilitation training device is built by using Simulink,and the PID control simulation of the spline data imported from Adams is carried out,and the corresponding control system parameters are obtained.Furthermore,the human-computer interaction system is built by using Kunlun dynamic MCGS configuration software,from the crowd types of patients to different rehabilitation stages of patients,which not only provides all kinds of convenience for patients when using this equipment,but also makes it possible for the designed ankle rehabilitation training equipment to become popular.Finally,a physical prototype is built according to the relevant structural dimensions of the designed ankle rehabilitation training device,and the actual rehabilitation effect of the designed ankle rehabilitation training device is tested and verified by experiments.