Motion Performance Analysis of the Sawyer Ankle Rehabilitation Robot
The ankle joint is the major weight bearing joint of human bodies,it have complex physiologic structure that can be easily traumatized.The rehabilitation robot is medical equipment,and it is used to assist even replace the rehabilitation physician,which would help the ankle injury patients to complete the training of the joint flexibility and muscle strength.Existing ankle rehabilitation robots have some problems that the axes of joints of robot are not aligned with the axes of ankle,the center or rotation axes of platform for rehabilitation robot are not aligned.A Sawyer ankle rehabilitation robot is proposed,each joint have some force sensors with high performance,it can replace the hands to take the dull,repeatability and susceptibility of rehabilitation physician.The kinematics model of robot was established base on D-H method,the forward and inverse solutions of robot were solved and some special configurations of robot were obtained.Combine kinematic characteristics of ankle with SimMechanics modules in Matlab,change regulation of angles for the joints of robot was studied,which under the different forces and torques.The results showed that the angles of joints increase with the values of forces and torques,and the angles of joints cause by forces are smaller than the torques.However,the joint 6 take reverse rotation when the torques rotation about the X-axis acts on the moving platform.This study will provide theoretical basis for the control system of novel ankle rehabilitation robots.
Ankle rehabilitation Sawyer robot Kinematics characteristics SimMechanics
Yongfeng Wang Xiangzhan Kong Jing Yang Guoru Zhao
School of Mechanical and Electronic Engineering,Hubei Polytechnic University,Huangshi 435003,China;C Intelligent Robotics Institute,Beijing Institute of Technology,Beijing 100081,China Handan University,Handan 056001,China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems,Shenzhen Institutes of Advanced Tec
国际会议
浙江湖州
英文
832-846
2019-08-12（万方平台首次上网日期，不代表论文的发表时间）