3-PH/R踝关节康复机器人的运动轨迹研究
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福州大学

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国家自然科学基金青年科学基金项目(No.61801122);福建省自然科学基金(No.2018J01762);福建省教育厅科技项目(NO.JK2017002)


Study on Motion Trajectory of 3-PH / R Ankle Rehabilitation Robot
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Fuzhou University

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    摘要:

    目的 通过研究3-PH/R踝关节康复机器人在不同轨迹下对关节及肌肉的影响,探讨踝关节康复运动轨迹的制定。方法 通过分析运动学原理,将3-PH/R踝关节康复机器人简化后导入Anybody中,以踝关节康复机器人的实际运动轨迹作为模型驱动,比较在跖背屈、内外翻和章动三种不同运动轨迹下关节和肌肉的受力情况,并对三种运动轨迹进行相关性分析。结果 章动能同时满足跖背屈和内外翻的功能,并让踝部肌肉群得到充分锻炼;三种不同的康复轨迹的关节力相差不大,最大相差0.3N;不同的肌肉对于轨迹敏感度不同。结论 本文实现了三种康复轨迹作用下肌肉力和关节力的一个连续性动态分析,论文的研究对于脚踝康复机器人的临床应用和康复轨迹的制定具有一定的理论指导意义和临床参考价值。

    Abstract:

    Objective To investigate the formulation of ankle rehabilitations motion trajectory by studying the effects of different trajectories of 3-PH/R ankle rehabilitation robot on joints and muscles. Method The 3-PH/R ankle rehabilitation robot is simplified and imported into Anybody by analyzing the kinematics principles. Using the actual motion trajectory of ankle rehabilitation robot as model driving. The changes of joints and muscles were compared under the three different trajectories of dorsiflexion/plantarflexion, inversion/eversion, and nutation. And analysis of the relationship among the three motion trajectory through correlation. Results Nutation can satisfy the function of both plantar dorsiflexion/plantarflexion, and inversion/eversion, and make the ankle muscles fully exercise. There is no significant difference in joint force under three different rehabilitation trajectories, with a maximum difference of 0.3N. Different muscles have different sensitivity to trajectories. Conclusions In this paper, a continuous dynamic analysis of muscle force and joint force under three kinds of rehabilitation trajectories is implemented. The results have certain theoretical significance and clinical reference value for the clinical application of ankle rehabilitation robot and the formulation of rehabilitation trajectory.

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  • 收稿日期:2020-01-15
  • 最后修改日期:2020-03-23
  • 录用日期:2020-03-31
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