Research On The Wearable Ankle Rehabilitation Parallel Robot System

Nowadays,with the increasing number of stroke patients and sports injury patients year by year,the importance of lower limb rehabilitation is also increasing with each passing day.The ankle joint is the last barrier to support the body weight in the lower limb.The rehabilitation of the ankle joint plays an irreplaceable role in the field of lower limbs rehabilitation.The ankle joint is one of the most complicated joints in the lower limbs.This paper studied and developed a wearable ankle rehabilitation robot and its rehabilitation system,which can adaptively adjust its compliant performance according to different ankle conditions.The effectiveness of the adaptive control method and rehabilitation scheme is verified through experiments.It was proved that the rehabilitation control method can meet the rehabilitation needs of patients with different ankle stiffness.The main content is as follows:First of all,since parallel robot has the characteristics of high stability and high flexibility,this paper designed a new 6-UPU wearable ankle joint rehabilitation robot based on the parallel mechanism according to the needs of ankle joint rehabilitation.The kinematics and dynamics model of the rehabilitation robot were established.Its correctness was verified by simulation and analysis,and the workspace of the robot was analyzed.Secondly,the two ways of impedance control were analyzed.The operation mode of impedance control was explained.Through the analysis of the overall model of the robot,the control scheme based on force impedance control was determined.This paper introduces and analyzes the measurement and application of ankle stiffness,and designed an adaptive impedance control method according to different ankle stiffness.Finally,the robot prototype was built.The system framework of the robot was also designed.The upper computer program was used for trajectory planning,rehabilitation mode selection(including active and passive)and sensing information graph drawing.The lower computer program was used for algorithm implementation.Through the ankle stiffness test for ordinary people,a method about the flexible ankle joint testing and setting was designed to solve the problem of asymmetric ankle stiffness.The method was applied to the adaptive impedance control.After applying the control mode to the prototype,the tests of the subjects was carried out.