| Aiming at ankle injury caused by the stroke and the clubfoot,surgery and drug treatment,as well as rehabilitation training are required by the physicians to improve rehabilitation efficiency.Traditional rehabilitation training has several shortcomings,including single manner,manual shortage,uneven levels of physicians,and lack of quantitative data evaluation and so on.By applying advanced robot technology to rehabilitation,the labor intensity of physicians can be reduced,and the shortcomings of traditional training can be recovered.In recent years,studies on ankle rehabilitation robots have been conducted by many research institutions at home and abroad.The configuration is mostly based on parallel mechanism,and the rehabilitation training is mostly in passive manner.However,the in-depth research on compliance rehabilitation robots is still insufficient.Based on the existing 2-UPS/RRR parallel ankle rehabilitation robot in the laboratory,the control system is upgraded and improved,and the active and passive compliance interactive training for ankle rehabilitation are emphatically studied.The specific research contents are as follows:（1）To achieve trajectory tracking control with high precision,the original robot control system is improved.Specifically,the original open-loop control scheme of parallel ankle rehabilitation robot is upgraded and improved;the servo drivers and servo motors with better performance are used;a six-axis circular loadcell with higher precision is applied;improved upper and lower computer interface and the corresponding control program are developed.（2）Passive motion is realized and compliance control is researched.Specifically,inverse position solution of the robot is calculated;according to the obtained mapping relationship between the robot end posture and each driving unit,the position value of each motor is obtained in real time;the trajectory tracking control with high precision is realized on parallel ankle rehabilitation robot via the position interpolation function of the servo driver;various passive trajectories are designed;the active and passive compliance training of ankle rehabilitation robot is studied;the admittance controller is selected to realize the compliance performance of the robot,the admittance algorithm is implemented on the upper computer via the method of proportion and time-translation.（3）Research on multi-mode compliance training.According to the requirements of different stages of rehabilitation training,passive compliance training,isotonic training,and active training are designed.In the process of passive compliance training,passive interactive moment is analyzed.The admittance controller is reasonably used,and the control strategies of the three training modes are designed.Considering the limitations of the fixed-admittance controller,the influence of admittance parameters on the output of admittance controller is studied.For passive compliance training,an adaptive admittance rule is designed and simulated using MATLAB.（4）Multi-mode compliance trainings experiment are corried out.Five health subjects are recruited to conduct experiments.Each of them participated passive compliance,isotonic training,and active training.Each type of training concludes three directions,i.e.,dorsiflexion/plantarflexion（DO/PL）,adduction/abduction（AD/AB）,and inversion/eversion（IN/EV）.The designed training has been proved beneficial to ankle rehabilitation.Then,one of the subjects is asked to perform an adaptive admittance experiment based on passive compliance training.The results indicate that the adaptive admittance rule can better handle the relationship between trajectory and dangerous signals.Finally,the experimental data of the first three kinds of training are statistically analyzed,and the mean deviation（MD）and root mean square deviation（RMSD）of each experiment are obtained.The results prove that the developed control system of ankle rehabilitation robot has good performance on trajectory tracking. |
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