踝关节章动式康复运动轨迹规划

作为一种常见的骨骼损伤方式，踝关节损伤的康复过程十分漫长。现有研究中规划的踝关节康复轨迹模式较单一、且容易造成踝关节的二次损伤。为避免踝关节的二次损伤，需要对其康复运动轨迹进行精心规划。有鉴于此，提出一种混联式踝关节康复装置，并提出一种基于章动原理的康复运动轨迹规划方法。结合踝关节康复运动的安全性要求，借助生物力学软件AnyBody分析了不同位姿下相关肌肉的活动度，进而确定了章动式踝关节康复运动轨迹的章动角。在此基础上，通过运动学推导，给出了混联式踝关节康复装置中各推杆的位移。最后，以所提混联式踝关节康复装置为对象搭建系统的运动控制平台，并通过激光跟踪仪对动平台上的运动参考点进行跟踪。理论和实测数据对比表明，所提章动式踝关节康复运动轨迹能实现跖屈/背屈、内翻/外翻的复合运动，并满足康复安全性要求。所设计的混联式踝关节康复装置及章动式康复运动轨迹可为踝关节患者的康复训练提供有效的解决方案。

Nutation Motion Based Trajectory Planning for a Novel Hybrid Ankle Rehabilitation Device

As a common athletics injury, the rehabilitation of ankle injury is a long and arduous process. The trajectory planning for the ankle rehabilitation during the rehabilitation process plays an important role to avoid a secondary ankle injuring. For this purpose, a nutation principle based trajectory planning method is proposed for a novel hybrid ankle rehabilitation device composing of a series and a parallel mechanism. The nutation angle is determined by the biomechanical simulation results of the muscle activity in AnyBody software according to the safety requirements for ankle rehabilitation exercise. On this basis, an inverse kinematic analysis is carried out to calculate the displacement of the pushrods. Finally, an experimental prototype of the proposed hybrid rehabilitation device is built and the nutation motion of the platform is measured with a laser tracker. The comparison between the theoretical derived and the experimental tested data confirms that the proposed nutation motion based trajectory planning can fulfill the plantar/dorsal flexion and inversion/eversion movement and meet the safety requirements of ankle rehabilitation exercise. Therefore, the proposed hybrid ankle rehabilitation device and the nutation rehabilitation trajectory can provide an effective solution for ankle injury rehabilitation.