Reconfigurable Design And Rehabilitation Effect Analysis Of Human Elbow,Knee And Ankle Rehabilitation Mechanism

This paper aims at the multi-functional needs of the elderly and disabled people in China for rehabilitation mechanisms.Based on reconfigurable principle,a P(2-RPS)&U rehabilitation mechanism is designed for the rehabilitation of human elbow,knee and ankle joints.Kinematic analysis and simulation analysis and rehabilitation effect analysis are carried out.Firstly,the dimensions of the limbs in standing and sitting postures of Chinese adults are analyzed,and the minimum size of the overall design of the rehabilitation mechanism is determined.The physiological structure and main motion forms of human elbow,knee and ankle joints and the muscle groups involved in these joints are analyzed in order to lay the foundation for the design of the rehabilitation mechanism and the analysis of the rehabilitation effect.Secondly,the movement mode of the motion limiting mechanism is analyzed,and a 2-RPS motion limiting mechanism is proposed.Combined with the standard size of the Chinese adult body and the range of motion of the human elbow joint,knee joint and ankle joint,the rehabilitation mechanism with P(2-RPS)&U configuration is presented.Then,the degree of freedom calculation,position inverse analysis and singularity analysis of the P(2-RPS)&U rehabilitation mechanism are carried out.Thirdly,using the method of derivation,the first-order and second-order influence coefficient matrices of the P(2-RPS)&U rehabilitation mechanism are obtained.The force Jacobian matrix of the mechanism is obtained through the first-order influence coefficient matrix;The dynamic modeling of the mechanism is carried out.The input moment of a given motion or the motion of the system with a given input moment can be obtained by using this dynamic equation.Then,the virtual prototype of the P(2-RPS)&U rehabilitation mechanism is established and simulated using SOLIDWORKS and ADAMS software.By inputting different STEP functions to the mechanism drive,the output range of the elbow,knee,and ankle joints of the rehabilitation mechanism is obtained,respectively.The results conform to the range of motion of the normal human elbow,knee and ankle joints.Then given the specific range of motion,the motion characteristics of the output of the rehabilitation mechanism are obtained,which proves the stability of the rehabilitation mechanism during operation.Finally,the human-machine system model of the P(2-RPS)-U rehabilitation mechanism and human body in AnyBody software is established.The maximum muscle activity and the energy consumption of muscle group in the training process of the human body when using the P(2-RPS)&U rehabilitation mechanism are analyzed through simulation.The safety in the process of rehabilitation training is verified.At the same time,the amount of flexion of the muscles near the elbow,knee and ankle joint during rehabilitation training is obtained,which confirms the effectiveness of the P(2-RPS)&U rehabilitation mechanism on the rehabilitation of the elbow,knee and ankle joints.