Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

Springer Science and Business Media LLC - Tập 36 Số 1
Jingke Song, Jun Wei, Bin Yu, Chenglei Liu, Cunjin AI, jianjun zhang

Tóm tắt

AbstractAiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility, an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilitation mechanism. The parallel rehabilitation mechanism has two virtual motion centers (VMCs), which can simulate the complex motion of the ankle joint, adapt to the individual differences of various patients, and can meet the rehabilitation needs of both left and right feet of patients. Firstly, based on the motion properties and physiological structure of the human ankle joint, the mapping relationship between the rehabilitation mechanism and ankle joint is determined, and the series equivalent model of the ankle joint is established. According to the kinematic and constraint properties of the ankle equivalent model, the configuration design of the parallel ankle rehabilitation robot is carried out. Secondly, according to the intersecting motion planes theory, the full-cycle mobility of the mechanism is proved, and the continuous axis of the mechanism is judged based on the constraint power and its derivative. Then, the kinematics of the parallel ankle rehabilitation robot is analyzed. Finally, based on the OpenSim biomechanical software, a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect, which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.

Từ khóa


Tài liệu tham khảo

X F Zeng, G L Zhu, M M Zhang, et al. Reviewing clinical effectiveness of active training strategies of platform-based ankle rehabilitation robots. Journal of Healthcare Engineering, 2018: 2858294.

S Casco, I Fuster, R Galeano, et al. Towards an ankle neuroprosthesis for hybrid robotics: concepts and current sources for functional electrical stimulation. 2017 International Conference on Rehabilitation Robotics (ICORR), London, UK, July 17-20, 2017, 1660-1665.

M G Alvarez-Perez, M A Garcia-Murillo, J J Cervantes-Sánchez. Robot-assisted ankle rehabilitation: A review. Disability and Rehabilitation Assistive Technology, 2019, 15(4): 394-408.

F Alnajjar, R Zaier, S Khalid, et al. Trends and technologies in rehabilitation of foot drop: A systematic review. Expert Review of medical devices, 2021, 18(1): 31-46.

S Rahman, R Ikeura. A novel variable impedance compact compliant ankle robot for overground gait rehabilitation and assistance. Procedia Engineering, 2012, 41(1): 522-531.

W Meng, Q Liu, M M Zhang, et al. Robot-assisted ankle rehabilitation training on an adult with cerebral palsy: A case report. Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Boston, Massachusetts, USA, August 2–5, 2015: V009T007A006.

Y M Khalid, D Gouwanda, S Parasuraman. A review on the mechanical design elements of ankle rehabilitation robot. Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine, 2015, 229(6): 452-463.

Q Meng, F G Xie, X J Liu, et al. Screw theory-based motion/force transmissibility analysis of high-speed parallel robots with articulated platforms. Journal of Mechanisms and Robotics, 2020, 12(4): 1-15.

M Girone, G Burdea, M Bouzit, et al. A stewart platform-based system for ankle telerehabilitation. Autonomous Robots, 2001, 10(2): 203-212.

J A Saglia, N G Tsagarakis, J S Dai, et al. Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT). IEEE/ASME Transactions on Mechatronics, 2013, 18(6): 1799-1808.

J S Dai, T Zhao, C Nester. Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device. Autonomous Robots, 2004, 16(2): 207-218.

G Q Liu, J L Gao, H Yue, et al. Design and kinematics analysis of parallel robots for ankle rehabilitation. International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006, 253-258.

C Z Wang, Y F Fang, S Guo, et al. Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation. Journal of Mechanisms and Robotics-Transacions of the ASME, 2013, 5(4): 041003.

M J Dong, Y Kong, J F Li, et al. Kinematic calibration of a parallel 2-UPS/RRR ankle rehabilitation robot. Journal of Healthcare Engineering, 2020: 1-12.

H Choi, Y J Park, K Seo, et al. A multi-functional ankle exoskeleton for mobility enhancement of gait-impaired individuals and seniors. IEEE Robotics & Automation Letters, 2017, 3(1): 411-418.

M B Hong, G T Kim, Y H Yoon. ACE-ankle: A novel sensorized RCM (remote-center-of-motion) ankle mechanism for military purpose exoskeleton. Robotica, 2019, 37(12): 2209-2228.

T Essomba, L N Vu. Kinematic analysis of a new five-bar spherical decoupled mechanism with two-degrees of freedom remote center of motion. Mechanism and Machine Theory, 2018, 119(1): 184-197.

M Malosio, S P Negri, N Pedrocchi, et al. A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation. 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Diego, CA, USA, 2012, 3356-3359.

C L Liu, J J Zhang, Z H Ma, et al. Accurate detection mechanism synthesis and robot-assisted recognition method for ankle instantaneous motion. Mechanism and Machine Theory, 2022, 176(1): 105000.

J J Zhang, C L Liu, T Liu, et al. Module combination based configuration synthesis and kinematic analysis of generalized spherical parallel mechanism for ankle rehabilitation. Mechanism and Machine Theory, 2021, 166(1): 104436.

J A Saglia, N Tsagarakis, J S Dai, et al. A high-performance redundantly actuated parallel mechanism for ankle rehabilitation. The International Journal of Robotics Research, 2009, 28(9): 1216-1227.

A H Weerasingha, A D K H Pragnathilaka, W P K Withanage, et al. C-JAE: 3 DOF robotic ankle exoskeleton with compatible joint axes. 2018 Moratuwa Engineering Research Conference (MERCon), Moratuwa, Sri Lanka, 2018, 270-275.

J B Stiehl. Inman's joint of the ankle. 2nd ed. Williams & Wilkins, 1991.

R K Beals. The joints of the ankle. The Western Journal of Medicine, 1977, 127(2): 183-183.

A Haskell, R A Mann. Biomechanics of the foot. Atlas of Orthoses and Assistive Devices, 2017: 311-324.

J R Jastifer, P A Gustafson. The subtalar joint: Biomechanics and functional representations in the literature. The Foot, 2014, 24(4): 203-209.

J M Li, G K Zhang, A Muller, et al. A family of remote center of motion mechanisms based on intersecting motion planes. Journal of Mechanical Design, 2013, 135(9): 091009.

T S Zhao, J S Dai, Z Huang. Geometric analysis of overconstrained parallel manipulators with three and four degrees of freedom. JSME International Journal Series C-mechanical Systems Machine Elements and Manufacturing, 2004, 45(3): 730-740.

K Marlow, M Isaksson, J S Dai, et al. Motion/force transmission analysis of planar parallel mechanisms with closed-loop subchains. Journal of Mechanisms and Robotics, 2016, 8(4): 041019.

X J Liu, X Chen, M Nahon. Motion/force constrainability analysis of lower-mobility parallel manipulators. Journal of Mechanisms and Robotics, 2014, 6(3): 031006.

B Hu, D S Shi, T F Xie, et al. Kinematically identical manipulators derivation for the 2-RPU + UPR parallel manipulator and their constraint performance comparison. Journal of Mechanisms and Robotics, 2020, 12(6): 1-13.

J Dul, G E Johnson. A kinematic model of the human ankle. Journal of Biomedical Engineering, 1985, 7(2): 137-143.

S Briot, I A Bonev. Singularity analysis of zero-torsion parallel mechanisms. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, September 22-26, 2008: 1952-1957.

I A Bonev, J Ryu. A new approach to orientation workspace analysis of 6-DOF parallel manipulators. Mechanism and Machine Theory, 2001, 36(1): 15-28.

S L Delp, F C Anderson, A S Arnold, et al. OpenSim: Open-source software to create and analyze dynamic simulations of movement. IEEE Transactions on Biomedical Engineering, 2007, 54(11): 1940-1950.

T Proietti, V Crocher, A Roby-Brami, et al. Upper-limb robotic exoskeletons for neurorehabilitation: A review on control strategies. IEEE Reviews in Biomedical Engineering, 2016, 9(1): 4-14.

N A Bhagat, V Anusha, A Berdakh, et al. Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors. Front Neurosci, 2016, 10(1): 1-17.

A A Blank, J A French, A U Pehlivan, et al. Current trends in robot-assisted upper-limb stroke rehabilitation: promoting patient engagement in therapy. Current Physical Medicine and Rehabilitation Reports, 2014, 2(3): 184-195.

Thông tin
Thông tin xuất bản

Springer Science and Business Media LLC

Tập 36 Số 1

Thông tin tác giả