Research And Development Of Bionic Ankle Joint Auxiliary Rehabilitation System

An ankle joint damage is one of the most vulnerable joint in human sports injuries.In order to realize auxiliary rehabilitation after ankle joint damages,a bionic ankle joint auxiliary rehabilitation system is designed based on the ball pin pair,a prototype is manufactured and the experimental test is carried out.Using rigid and flexible hybrid drive mode the mechanical structure of the system has two degree of freedom,which can achieve the dorsal flexion/plantar flexion,varus/valgus movement and their composite movement.The system can select movement frequency,amplitude,period and law,etc.according to the needs of patients.Through based on the study of humanoid ankle joint rehabilitation mechanism in domestic and foreign,combine if with the characteristics of various mechanisms,a new type of bionic ankle joint auxiliary rehabilitation device is designed,the system parameters of the device achieve the maximum varus/valgus angle 300;the maximum dorsal flexion/plantar flexion angle 300.In the working,firstly,the mechanism model is established and the working principle is studied according to the characteristics of the human ankle joint,the configuration of the device is designed and the 3D model is established.Secondly,in order to analyze the rehabilitation effect of the device,the working space of the device is studied and the working conditions of the device are given.Based on working space solution model established,We adopt MATLAB to calculate working space.The calculation results show that the working space of the device can meet design requirement.The solution method of the working space provides a reference for solving the working space of the mechanism with the multi-motion mode.Thirds,in order to research the kinematics and dynamics properties of the device,the motion simulation of the device with three different motion laws(modified constant velocity,modified sine and modified trapezoidal motion)for the working platform is carried out by ADAMS when the spring is in the elastic state or in the rigid state.The results are analyzed,which lays the foundation for the final determination of the structure and motion parameters.Finally,the control system of the device is designed based on the above research.In the hardware design of the control system,the motor,servo driver and multi-axis motion control card are selected;in the software design of the control system,using C language programming,the human-computer interaction interface is estimated and the control system programming iscompleted.The manufacture and experimental test of ankle joint auxiliary rehabilitation device are completed.The control system and software of the device passed the test in the national accreditation department.The experimental results show that the design of the rehabilitation device reaches the task requirements.