踝关节章动式康复运动轨迹规划
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摘要
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。
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.
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.
引文
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[20]屠海斌,张侃健,方仕雄,等.四自由度机器人轨迹规划算法研究与实现[J].工业控制计算机,2015,28(5):120-122.TU Haibin,ZHANG Kanjian,FANG Shixiong,et al.Trajectory planning theory for 4-DOF robot and implement algorithm[J].Industrial Control Computer,2015,28(5):120-122.
[21]HAROLD,VICENTE R O.The theory of nutation and the variation of latitude[J].Monthly Notices of the Royal Astronomical Society,1957,117(2):142-161.
[22]张剀,张小章,赵雷,等.磁悬浮飞轮陀螺力学与控制原理[J].机械工程学报,2007,43(3):102-106.ZHANG Kai,ZHANG Xiaozhang,ZHAO Lei,et al.Gyroscopic dynamics and control principles of flywheels supported by active magnetic bearings[J].Chinese Journal of Mechanical Engineering,2007,43(3):102-106.
[23]单丽君,胡忠安.基于AnyBody的髋关节康复训练肌肉力的分析[J].大连交通大学学报,2014,35(1):50-52.SHANG Lijun,HU Zhongan.Muscle force analysis of hip rehabilitation training based on AnyBody[J].Journal of Dalian Jiaotong University,2014,35(1):50-52.
[24]刘群,任金东,张茜,等.考虑困难度的驾驶员坐姿手伸及能力研究[J].机械工程学报,2016,52(14):125-133.LIU Qun,REN Jindong,ZHANG Xi,et al.Research on driver seated reach capability with consideration of difficulty[J].Journal of Mechanical Engineering,2016,52(14):125-133.
[25]WANG C,FANG Y,GUO S,et al.Design and kinematical performance analysis of a 3-R US/R RRredundantly actuated parallel mechanism for ankle rehabilitation[J].Journal of Mechanisms&Robotics,2013,5(4):041003.1-041003.11.
[26]SHAH M N,BASAH S N,WAN K,et al.Conceptual design for robot-aided ankle rehabilitation device[J].Journal Teknologi,2015,76(12):45-52.
[27]ROAAS A,ANDERSSON G B.Normal range of motion of the hip,knee and ankle joints in male subjects,30-40years of age[J].Acta Orthopaedica Scandinavica,1982,53(2):205-208.
[28]CHEN G,ZHOU Z,WANG N,et al.Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching[J].Robotics&Autonomous Systems,2017,94:34-42.
[2]GIRONE M J,BURDEA G C,BOUZIT M.Rutgers Ankle orthopedic rehabilitation interface[J].ASMEDynamic Systems&Control Division DSC,1999,67(1):305-312.
[3]SAGLIA J A,TSAGARAKIS N G,DAI J S,et al.A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation[C]//IEEE International Conference on Robotics and Automation.IEEE Press,2009:2677-2683.
[4]TAKEMURA H,ONODERA T,DING M,et al.Design and control of a wearable Stewart platform-type ankle-foot assistive device[J].International Journal of Advanced Robotic Systems,2012,202(9):1-7.
[5]XIE S Q,JAMWAL P K.An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot[J].Expert Systems with Applications,2011,38(7):8128-8137.
[6]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.
[7]刘颖超.气动并联式踝关节康复机器人的研究[D].哈尔滨:哈尔滨工业大学,2014.LIU Yingchao.Research on the pneumatic parallel ankle rehabilitation robot[D].Harbin:Harbin Institute of Technology,2014
[8]曾达幸,胡志涛,侯雨雷,等.一种新型并联式解耦踝关节康复机构及其优化[J].机械工程学报,2015,51(9):1-9.ZENG Daxing,HU Zhitao,HOU Yulei,et al.Novel decoupled parallel mechanism for ankle rehabilitation and its optimization[J].Journal of Mechanical Engineering,2015,51(9):1-9.
[9]禹润田,方跃法,郭盛.绳驱动并联踝关节康复机构设计及运动性能分析[J].机器人,2015,37(1):53-62.YU Runtian,FANG Yuefa,GUO sheng.Design and kinematic performance analysis of a cable-driven parallel mechanism for ankle rehabilitation[J].Robot,2015,37(1):53-62.
[10]俞志伟,王立权.双足机器人并联踝关节优化设计[J].机械工程学报,2009,45(11):58-63.YU Zhiwei,WANG Liquan.Optimal design of biped robot parallel ankle joint[J].Journal of Mechanical Engineering,2009,45(11):58-63.
[11]史小华,王洪波,孙利,等.外骨骼型下肢康复机器人结构设计与动力学分析[J].机械工程学报,2014,50(3):41-48.SHI Xiaohua,WANG Hongbo,SUN Li,et al.Design and dynamic analysis of an exoskeleton lower limbs rehabilitation robot[J].Journal of Mechanical Engineering,2014,50(3):41-48.
[12]LEI J,WANG F,YU H,et al.Energy efficiency analysis of quadruped robot with trot gait and combined cycloid foot trajectory[J].Chinese Journal of Mechanical Engineering,2014,27(1):138-145.
[13]WANG R,WANG X.Research of trajectory planning for Delta parallel robots[C]//International Conference on Mechatronic Sciences,Electric Engineering and Computer.IEEE,2014:814-818.
[14]刘凉,陈超英,赵新华.考虑关节摩擦的并联机器人平滑轨迹规划[J].机械工程学报,2014,50(19):9-17.LIU Liang,CHEN Chaoying,ZHAO Xinhua.Smooth trajectory planning for parallel manipulator with joint friction torque[J].Journal of Mechanical Engineering,2014,50(19):9-17.
[15]梅江平,臧家炜,乔正宇,等.三自由度Delta并联机械手轨迹规划方法[J].机械工程学报,2016,52(19):9-17.MEI Jiangping,ZANG Jiawei,QIAO Zhengyu,et al.Trajectory planning of 3-DOF delta parallel manipulator[J].Journal of Mechanical Engineering,2016,52(19):9-17.
[16]MA S,YANG L,LIU Z,et al.Trajectory planning of6-DOF manipulator based on combination function method[C]//Chinese Control and Decision Conference.2014:3407-3411.
[17]LEI J T,WANG F.Energy efficiency analysis of quadruped robot with trot gait and combined cycloid foot trajectory[J].Chinese Journal of Mechanical Engineering,2014,27(1):138-145.
[18]DAI Z,SHENG X,HU J,et al.Intelligent robotics and applications[M].Springer,2015.
[19]张斌.基于多约束的机器人关节空间轨迹规划[J].机械工程学报,2011,47(21):1-6.ZHANG Bin.Joint-space trajectory planning for robots under multiple constraints[J].Journal of Mechanical Engineering,2011,47(21):1-6.
[20]屠海斌,张侃健,方仕雄,等.四自由度机器人轨迹规划算法研究与实现[J].工业控制计算机,2015,28(5):120-122.TU Haibin,ZHANG Kanjian,FANG Shixiong,et al.Trajectory planning theory for 4-DOF robot and implement algorithm[J].Industrial Control Computer,2015,28(5):120-122.
[21]HAROLD,VICENTE R O.The theory of nutation and the variation of latitude[J].Monthly Notices of the Royal Astronomical Society,1957,117(2):142-161.
[22]张剀,张小章,赵雷,等.磁悬浮飞轮陀螺力学与控制原理[J].机械工程学报,2007,43(3):102-106.ZHANG Kai,ZHANG Xiaozhang,ZHAO Lei,et al.Gyroscopic dynamics and control principles of flywheels supported by active magnetic bearings[J].Chinese Journal of Mechanical Engineering,2007,43(3):102-106.
[23]单丽君,胡忠安.基于AnyBody的髋关节康复训练肌肉力的分析[J].大连交通大学学报,2014,35(1):50-52.SHANG Lijun,HU Zhongan.Muscle force analysis of hip rehabilitation training based on AnyBody[J].Journal of Dalian Jiaotong University,2014,35(1):50-52.
[24]刘群,任金东,张茜,等.考虑困难度的驾驶员坐姿手伸及能力研究[J].机械工程学报,2016,52(14):125-133.LIU Qun,REN Jindong,ZHANG Xi,et al.Research on driver seated reach capability with consideration of difficulty[J].Journal of Mechanical Engineering,2016,52(14):125-133.
[25]WANG C,FANG Y,GUO S,et al.Design and kinematical performance analysis of a 3-R US/R RRredundantly actuated parallel mechanism for ankle rehabilitation[J].Journal of Mechanisms&Robotics,2013,5(4):041003.1-041003.11.
[26]SHAH M N,BASAH S N,WAN K,et al.Conceptual design for robot-aided ankle rehabilitation device[J].Journal Teknologi,2015,76(12):45-52.
[27]ROAAS A,ANDERSSON G B.Normal range of motion of the hip,knee and ankle joints in male subjects,30-40years of age[J].Acta Orthopaedica Scandinavica,1982,53(2):205-208.
[28]CHEN G,ZHOU Z,WANG N,et al.Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching[J].Robotics&Autonomous Systems,2017,94:34-42.