[1]韩亚丽,于建铭,宋爱国,等.并联式踝关节康复机器人研究[J].东南大学学报(自然科学版),2015,45(1):45-50.[doi:10.3969/j.issn.1001-0505.2015.01.009]
 Han Yali,Yu Jianming,Song Aiguo,et al.Parallel robot mechanism for ankle rehabilitation[J].Journal of Southeast University (Natural Science Edition),2015,45(1):45-50.[doi:10.3969/j.issn.1001-0505.2015.01.009]
点击复制

并联式踝关节康复机器人研究()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
45
期数:
2015年第1期
页码:
45-50
栏目:
自动化
出版日期:
2015-01-20

文章信息/Info

Title:
Parallel robot mechanism for ankle rehabilitation
作者:
韩亚丽12于建铭2宋爱国1朱松青2张海龙2吴在罗2
1东南大学仪器科学与工程学院, 南京 210096; 2南京工程学院机械学院, 南京 211167
Author(s):
Han Yali12 Yu Jianming2 Song Aiguo1 Zhu Songqing2 Zhang Hailong2 Wu Zailuo2
1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China
关键词:
踝关节康复机器人 并联机构 运动学分析 样机实验
Keywords:
robot for ankle rehabilitation parallel mechanism kinematics analysis prototype experiment
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2015.01.009
摘要:
针对目前踝关节康复机器人不同程度地存在机构自由度冗余、机构复杂、控制难度较大等问题,采用了一种3-RUPS/S型并联机构用以实现踝关节康复运动.对康复机器人机构进行设计,采用D-H法对机构的位置反解进行分析, 得到其驱动杆长随姿态角度的变化关系.利用数值解析法进行位置正解分析,并结合电动推杆的电位器数据及姿态传感器检测的动平台姿态角的变化信息实施康复机器人样机的控制.实验结果表明,踝关节康复机器人能够带动踝关节进行康复训练,满足人体踝关节的运动需求.
Abstract:
A novel 3-RUPS/S parallel mechanism is presented for ankle rehabilitation to solve the existing problems about redundant degrees of freedom, complicated mechanism and difficult control. The robot with parallel mechanism is designed, the inverse kinematics of the mechanism is given based on D-H method, and the driver length with the change of rotation angle of parallel mechanism is outputted through programming. The forward kinematics of the mechanism is analyzed based on the numerical analysis method, and the control of rehabilitation robot prototype is implemented based on potentiometer data of linear actuator and pose angle data of mobile platform through the attitude sensor. The experiment results show that the parallel mechanism for ankle rehabilitation can realize rehabilitation training of ankle joint and meet the requirements of ankle rehabilitation.

参考文献/References:

[1] Boian R F, Bouzit M, Burdea G C, et al. Dual stewart platform mobility simulator[C]//IEEE 26th Annual International Conference on Engineering in Medicine and Biology Society. San Francisco, CA,USA,2004: 4848-4851.
[2] Yoon Jungwon, Ryu J. A novel reconfigurable ankle/foot rehabilitation robot[C]//Proceeding of the International Conference on Robotics and Automation. Barcelona, Spain, 2005: 2290-2295.
[3] Saglia J A, Tsagarakis N G, Dai J S, et al. Inverse-kinematics-based control of a redundantly actuated platform for rehabilition [J]. Journal of Systems and Control Engineering, 2009, 223(1): 53-70.
[4] Kaufman K R, Irby S E, Mathewson J W, et al. Energy-efficient knee-ankle foot orthosis: a case study[J]. Journal of Prosthetics and Orthotics, 1996, 8(3): 79-85.
[5] Fan Yuanjie, Yin Yuehong. Mechanism design and motion control of a parallel ankle joint for rehabilitation robotic exoskeleton[C]//IEEE International Conference on Robotics and Biomimetics. Guilin, China, 2009: 2527-2532.
[6] Bi Z M. Design of a spherical parallel kinematic machine for ankle rehabilitation[J]. Advanced Robotics, 2013, 27(2): 121-132.
[7] Syrseloudis C E, Emiris L Z, Lilas T, et al. Design of a simple and modular 2-DOF ankle physiotheraphy device relying on a hybrid serial-parallel robotic architecture[J]. Applied Bionics and Biomechanics, 2011, 8(1): 101-114.
[8] Jamwal P K, Xie S Q, Hussain S, et al. An adaptive wearable parallel robot for the treatment of ankle injuries[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(1): 64-75.
[9] Girone M, Burdea G, Bouzit M, et al. A stewart platform-based system for ankle telerehabilitation[J]. Autonomous Robots, 2001, 10(2): 203-212.
[10] Dai J S, Zhao T, Nester C. Sprained ankle physiotheraphy based mechanism systhesis and stiffness analysis of a robotic rehabilitation device[J]. Autonomous Robots, 2004, 16(2): 207-218.
[11] 边辉,赵铁石,田行斌,等.生物融合式康复机构及其应用[J].机器人,2010,32(4):470-477.
  Bian Hui, Zhao Tieshi, Tian Xingbing, et al. Rehabilitation facility with biological integration and application [J]. Robot, 2010, 32(4): 470-477.(in Chinese)
[12] 窦玉超,姚建涛,高思慧,等.冗余驱动并联机器人动力学建模与驱动协调分配[J].农业机械学报,2014,45(1):293-300.
  Dou Yuchao, Yao Jiantao, Gao Shihui, et al. Dynamic modeling and driving force coordinate distribution of the parallel robot with redundant actuation[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(1): 293-300.(in Chinese)
[13] 张小俊,刘更谦,张明路.一种踝关节康复机器人的控制系统设计[J]. 机器人技术,2009,25(3/2):259-284.
  Zhang Xiaojun, Liu Gengqian, Zhang Minglu. An ankle rehabilitation robot control system design[J]. Robotics, 2009, 25(3/2): 259-284.(in Chinese)
[14] Liu Gengqian, Gao Jinlian, Yue Hong, et al. Design and kinematics analysis of parallel robots for ankle rehabilitation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China, 2006: 253-258.
[15] Wang Congzhe, Fang Yuefa, Guo Sheng, et al. Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation[J]. Journal of Mechanisms and Robotics, 2013, 5(4): 041003-01-041003-10.
[16] 李良标,吕秋萍.运动生物力学[M].北京:北京体育大学出版社,2003:65-120.

备注/Memo

备注/Memo:
收稿日期: 2014-07-30.
作者简介: 韩亚丽(1978—),女,博士,副教授;宋爱国(联系人),男,博士,教授,博士生导师, a.g.song@seu.edu.cn.
基金项目: 国家自然科学基金青年基金资助项目(51205182)、江苏省自然科学基金资助项目(BK2012474)、江苏省大学生创新项目资助项目(201311276009Z).
引用本文: 韩亚丽,于建铭,宋爱国,等.并联式踝关节康复机器人研究[J].东南大学学报:自然科学版,2015,45(1):45-50. [doi:10.3969/j.issn.1001-0505.2015.01.009]
更新日期/Last Update: 2015-01-20