Research On Hybrid Ankle Rehabilitation Device Based On Pneumatic Soft Structure

With the development of economy and society,the number of patients with ankle dyskinesia caused by the aging of the population and traffic accidents is increasing.The traditional rehabilitation method is manual therapy manual operation equipment training,which has heavy structure,complicated use,insufficient freedom and efficiency.The problem of insufficient and high cost.In order to solve the above problems,based on the actual needs and the development status of related industries and disciplines,this research designed a set of hybrid ankle rehabilitation training device based on pneumatic software structure,which was applied to ankle rehabilitation training,and developed for the prototype of the rehabilitation device.Related performance testing,the main research work of this article is as follows:1.Theoretically analyze the rationality and necessity of ankle joint rehabilitation training,explain the normal range of motion of the ankle joint,and provide reference data for structural design and system control.Design a rehabilitation robot structure with a hybrid structure,draw a three-dimensional model,introduce the overall structure of the rehabilitation robot,rationally lay out related components,establish a kinematic model of the pneumatic execution structure of the rehabilitation device and analyze its motion space.Parameter calculation and design description for left-right rotation structure and pneumatic execution structure.2.Design the control system of the soft ankle joint rehabilitation device.Including the pneumatic circuit design of the pneumatic actuator system and the selection of important components.Explain the control route of the left-right rotation structure control system,research the pneumatic drive structure,and formulate a variety of motion control schemes.3.Finally make a prototype,perform actual performance tests on the prototype,verify the structural feasibility and scientificity of the rehabilitation device according to the formulated control plan,conduct related experimental tests,complete the analysis of experimental data,and prove the reliability of the system.This paper combines the pneumatic soft structure and the bevel gear deformation structure,and adopts the hybrid structure to develop an ankle joint rehabilitation device with a novel structure,which can assist the patient in left-handed/right-handed,varus/valgus,dorsiflexion/plantarflexion,etc.Rehabilitation training with a degree of freedom,and develop a variety of sports modes,and perform prototype performance experiments to verify the feasibility and effectiveness of the design.