CN116869782A - A rigid-flexible coupling ankle joint rehabilitation robot - Google Patents

A rigid-flexible coupling ankle joint rehabilitation robot Download PDF

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CN116869782A
CN116869782A CN202311014031.8A CN202311014031A CN116869782A CN 116869782 A CN116869782 A CN 116869782A CN 202311014031 A CN202311014031 A CN 202311014031A CN 116869782 A CN116869782 A CN 116869782A
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branch
link
rigid
flexible coupling
axis
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CN116869782B (en
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刘承磊
高德義
张建军
魏俊
郭士杰
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Hebei University of Technology
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Hebei University of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

本发明为一种刚柔耦合踝关节康复机器人，包括定平台、动平台、第一支链、第二支链和第三支链；三条支链均与定平台和动平台连接，第一支链和第二支链的结构相同且对称分布在第三支链两侧；每天支链均包括一个刚柔耦合模块，刚柔耦合模块包括四个连杆和扭簧；四个连杆依次转动连接组成平行四边形，相邻两个连杆的连接处安装一个扭簧；三条支链的驱动电机控制动平台姿态，实现踝关节的背/趾屈、内/外翻以及内/外旋，三条支链的刚柔耦合模块通过扭簧调节动球心的位置，使动球心在以距骨长度为半径的球面上移动，以拟合人体距下关节的位置，实现胫距关节与距下关节之间的运动耦合，使得该机器人能够顺应不同患者的不同康复轨迹，提高踝关节康复效率，降低二次损伤。

The invention is a rigid-flexible coupling ankle joint rehabilitation robot, which includes a fixed platform, a moving platform, a first branch chain, a second branch chain and a third branch chain; the three branch chains are all connected to the fixed platform and the moving platform, and the first branch chain The chain and the second branch chain have the same structure and are symmetrically distributed on both sides of the third branch chain; each branch chain includes a rigid-flexible coupling module, which includes four connecting rods and torsion springs; the four connecting rods rotate in sequence The connection forms a parallelogram, and a torsion spring is installed at the connection of two adjacent links; the drive motors of the three branch chains control the posture of the braking platform to achieve dorsal/toe flexion, inversion/valgus, and internal/external rotation of the ankle joint. The rigid-flexible coupling module of the branch chain adjusts the position of the moving ball center through the torsion spring, so that the moving ball center moves on a spherical surface with the length of the talus as the radius, so as to fit the position of the subtalar joint of the human body and realize the tibiotalar joint and subtalar joint. The motion coupling between them enables the robot to adapt to different rehabilitation trajectories of different patients, improve ankle joint rehabilitation efficiency, and reduce secondary injuries.

Description

Rigid-flexible coupling ankle rehabilitation robot
Technical Field
The application belongs to the technical field of ankle rehabilitation instruments, and particularly relates to a rigid-flexible coupling ankle rehabilitation robot.
Background
The ankle joint is an important joint of a human body, is used as the joint with the greatest load of the human body, is easy to be damaged, for example, the ankle joint is suddenly turned inwards and retracted by stepping into a pit during walking, so that the lateral collateral ligament can be damaged, and the ankle joint can be fractured by serious people. When running, jumping and performing sports, the ankle joint is subjected to great loads and impacts and is also easily damaged.
Along with the continuous development of robot technology, ankle rehabilitation robot is layered endlessly, and in order to achieve the purpose of rehabilitation training, the configuration and parameter design of the ankle rehabilitation robot need to refer to real bone structures, and common ankle fitting models comprise an RR model, an S model, an SS model and the like, and the SS model combines the characteristics and advantages of the RR model and the S model, so that the shank joint and the subtalar joint are equivalent to S-shaped joints with stronger motion adaptability, and the ankle joint has higher matching degree and precision.
Although the bone structures of different patients are basically similar, the movement modes are also approximately the same, but the tissue ligament structures of different patients are greatly different, so that the movement coupling relation between the tibial and subtalar joints is different, and the rehabilitation track of different patients is also different. In order to obtain a good rehabilitation training effect and avoid secondary injury, the motion of the ankle rehabilitation robot is required to conform to rehabilitation tracks of different patients, and the existing pure rigid ankle rehabilitation robot cannot meet the requirement.
Therefore, the application provides a rigid-flexible coupling ankle rehabilitation robot which not only can realize dorsiflexion/toe flexion, varus/valgus and varus/valgus rotation of the ankle joint, but also can fit coupling motion between an upper joint and a lower joint, so that the rehabilitation robot can conform to rehabilitation tracks of different patients.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide the rigid-flexible coupling ankle rehabilitation robot.
The application solves the technical problems by adopting the following technical scheme:
a rigid-flexible coupling ankle rehabilitation robot comprises a fixed platform, a movable platform, a first branched chain, a second branched chain and a third branched chain; the three branched chains are connected with the fixed platform and the movable platform, and the first branched chain and the second branched chain have the same structure and are symmetrically distributed on two sides of the third branched chain; it is characterized in that the method comprises the steps of,
the first branched chain comprises a first branched chain driving motor, a first branched chain first connecting rod, a first branched chain rigid-flexible coupling module and a first branched chain second connecting rod; the first branched chain driving motor is connected with the fixed platform, one end of a first branched chain first connecting rod is connected with an output shaft of the first branched chain driving motor, the other end of the first branched chain first connecting rod is rotationally connected with the first branched chain rigid-flexible coupling module, the first branched chain rigid-flexible coupling module is simultaneously rotationally connected with one end of a first branched chain second connecting rod, and the other end of the first branched chain second connecting rod is rotationally connected with the middle rear part of the movable platform;
the third branched chain comprises a third branched chain driving motor, a third branched chain first connecting rod, a third branched chain rigid-flexible coupling module, a third branched chain second connecting rod and a third branched chain third connecting rod; the third branched chain driving motor is positioned at the lower part of the fixed platform, an output shaft of the third branched chain driving motor is connected with one end of a third branched chain first connecting rod, the other end of the third branched chain first connecting rod is rotationally connected with a third branched chain rigid-flexible coupling module, the third branched chain rigid-flexible coupling module is simultaneously rotationally connected with one end of a third branched chain second connecting rod, two sides of the other end of the third branched chain second connecting rod are respectively rotationally connected with two sides of the upper end of a third branched chain third connecting rod, and the lower end of the third branched chain third connecting rod is fixedly connected with the middle and rear part of the movable platform;
the first branched rigid-flexible coupling module and the third branched rigid-flexible coupling module have the same structure and comprise four connecting rods and torsion springs; the four connecting rods are sequentially connected in a rotating way to form a parallelogram, and a torsion spring is arranged at the joint of two adjacent connecting rods;
the rehabilitation robot is provided with a centering ball and a movable ball center, a driving motor of three branched chains controls the posture of a movable platform to realize dorsiflexion/toe flexion, varus/valgus and varus/valgus of an ankle joint, and a rigid-flexible coupling module of the three branched chains adjusts the position of the movable ball center through a torsion spring so that the movable ball center moves on a spherical surface taking the length of a talus as a radius to fit the position of a human subtalar joint.
Further, the talus pose parameter (α) of the rehabilitation robot T /β T ) The mapping relation between the foot posture parameter (alpha/beta/gamma) and the foot posture parameter (alpha/beta/gamma) is shown as a formula (19), and the structural parameter of the rehabilitation robot is obtained according to the mapping relationRealizing structural optimization;
wherein: g α (·)、g β (. Cndot.) is a mapping function, alpha T And beta T For the rotation angle of the talus around the x, y axes of the coordinate system, alpha, beta and gamma are the rotation angles of the foot around the x, y and z axes of the coordinate system, (b) 11 ,b 12 ,b 13 ) T Is the axis O 1 B U1 Unit vector b in fixed coordinate system 1 ，(b 21 ,b 22 ,b 23 ) T Is the axis O 1 B U2 Unit vector b in fixed coordinate system 2 ，Is the axis O 1 A 1 Unit vector a in fixed coordinate system 1 Included angle with x-axis of fixed coordinate system, +.>Is the unit vector a 1 The angle between the projection on the fixed coordinate plane yoz and the z-axis of the fixed coordinate system, +.>Is the axis O 2 C 1 Unit vector c in fixed coordinate system 1 Included angle with x-axis of dynamic coordinate system, +.>Is the unit vector c 1 The projection on the dynamic coordinate system plane yoz is at an angle to the x-axis of the dynamic coordinate system, +.>And->Respectively the unit vectors b i With axis O 1 A i And O 2 C i Angle of (1)>Is of a double-core line O 1 O 2 And unit vector b 1 Or b 2 Included angle of O 1 Centering ball for rehabilitation robot, O 2 The dynamic sphere center of the rehabilitation robot, b i Is the axis O 1 B Ui Unit vector in fixed coordinate system, B Ui Is the rotation center of the i th first connecting rod and the first branched rigid-flexible coupling module, A i C is the rotation center of the ith branched chain driving motor and the first connecting rod i Is the rotation center of the second connecting rod of the ith branched chain and the movable platform, < >>Is an included angle->Cosine values of (2); the origin of the fixed coordinate system is positioned at the center of the spherical center of the rehabilitation robot, the z axis is vertical to the movable platform downwards, and the y axis is rigidly and flexibly coupled with the first connecting rod of the third branched chain and the third branched chainThe rotation axes of the combination modules are overlapped, and the x-axis obeys the right hand rule; the origin of the dynamic coordinate system is positioned at the dynamic sphere center of the rehabilitation robot, the z axis is vertical to the dynamic platform and downward, the x axis coincides with the rotation axis on the right side of the upper end of the third branched chain third connecting rod and the right side of the other end of the third branched chain second connecting rod, and the y axis complies with the right hand rule.
Further, the unit vector b i The following equation is satisfied:
wherein: (a) i1 ,a i2 ,a i3 ) Is the axis O 1 A i Unit vector coordinates in a fixed coordinate system, (b) i1 ,b i2 ,b i3 ) T Is the unit vector b i Coordinates of (c) i1 ,c i2 ,c i3 ) Is the axis O 2 C i The unit vector coordinates in the fixed coordinate system,is an included angle->Cosine value of>Is an included angle->Cosine values of (a) are provided.
Further, the rotation axes of the two ends of the first branched chain first connecting rod, the rotation axes of the two ends of the second branched chain first connecting rod and the rotation axes of the third branched chain first connecting rod and the third branched chain rigid-flexible coupling module are intersected with the centering center of the rehabilitation robot; the axes of the two ends of the first branched chain second connecting rod, the axes of the two ends of the second branched chain second connecting rod, the axes of the two ends of the third branched chain second connecting rod and the axes of the third branched chain third connecting rod and the connecting hole of the movable platform are intersected with the movable spherical center of the rehabilitation robot.
Compared with the prior art, the application has the beneficial effects that:
1. aiming at different tibial-to-subtalar joint motion coupling relations of different patients, on the basis of an SS model, a rigid-flexible coupling module is added into each branched chain, so that not only can the dorsiflexion/plantar flexion, the varus/valgus and the varus/valgus of the ankle joint be realized, but also the position of a movable ball center is finely adjusted through a torsion spring of the rigid-flexible coupling module in the motion process, so that the movable ball center moves on a spherical surface with the length of a talus as a radius to fit the position of the subtalar joint, the motion coupling between the tibial-to-subtalar joint and the subtalar joint is realized, thereby conforming to different positions of feet of the patients, conforming to different rehabilitation tracks of different patients, improving the rehabilitation efficiency of the ankle joint and reducing the possibility of secondary injury.
2. According to the mapping relation between the talus posture parameters and the foot posture parameters, the structural parameters of the rehabilitation robot can be obtained, and the optimal design of the rehabilitation robot is realized.
Drawings
FIG. 1 is an overall block diagram of the present application;
FIG. 2 is a block diagram of a stator platform of the present application;
FIG. 3 is a block diagram of the present application at one view;
FIG. 4 is a block diagram of the present application at another perspective;
FIG. 5 is a block diagram of a first branched rigid-flexible coupling module of the present application;
FIG. 6 is a cross-sectional view of a first branched rigid-flexible coupling module of the present application;
in the figure: 1. a fixed platform; 2. a movable platform; 3. a first branch; 4. a second branch; 5. a third branch;
101. an upper connecting plate; 102. a fixed platform upright post; 103. a lower connecting plate; 104. a base; 301. a first branched drive motor; 302. a first branched first link; 303. the first branched rigid-flexible coupling module; 304. a first branched second link; 501. a third branched drive motor; 502. a third branched first link; 503. the third branched rigid-flexible coupling module; 504. a third branched second link; 505. a third branched third link;
303-1, a rigid-flexible coupling module first connecting rod; 303-2, a rigid-flexible coupling module second connecting rod; 303-3, a third connecting rod of the rigid-flexible coupling module; 303-4, a fourth connecting rod of the rigid-flexible coupling module; 303-5, rigid-flexible coupling module torsion springs.
Detailed Description
Specific embodiments are given below with reference to the accompanying drawings. The specific embodiments are only used for describing the technical scheme of the application in detail, and are not used for limiting the protection scope of the application.
The application relates to a rigid-flexible coupling ankle rehabilitation robot which comprises a fixed platform 1, a movable platform 2, a first branched chain 3, a second branched chain 4 and a third branched chain 5; the three branched chains are connected with the fixed platform 1 and the movable platform 2, and the first branched chain 3 and the second branched chain 4 are symmetrically distributed on two sides of the third branched chain 5.
The fixed platform 1 comprises an upper connecting plate 101, a fixed platform upright post 102, a lower connecting plate 103 and a base 104; the base 104 is a frame structure formed by welding aluminum profiles, the lower connecting plate 103 is positioned on the base 104, the upper connecting plate 101 is connected with the lower connecting plate 103 through a plurality of movable platform upright posts 102, the upper connecting plate 101 is provided with a U-shaped notch for accommodating the lower leg of a human body, and the movable platform 2 is positioned in a space between the upper connecting plate 101 and the lower connecting plate 103.
The first branched chain 3 and the second branched chain 4 have the same structure, and the first branched chain 3 is taken as an example for explanation, and the first branched chain 3 comprises a first branched chain driving motor 301, a first branched chain first connecting rod 302, a first branched chain rigid-flexible coupling module 303 and a first branched chain second connecting rod 304; the first branched chain driving motor 301 is fixedly connected with the upper connecting plate 101 of the fixed platform 1, the first branched chain driving motor 301 is connected with one end of a first branched chain first connecting rod 302 through a speed reducer, the other end of the first branched chain first connecting rod 302 is rotationally connected with a first branched chain rigid-flexible coupling module 303, the first branched chain rigid-flexible coupling module 303 is simultaneously rotationally connected with one end of a first branched chain second connecting rod 304, and the other end of the first branched chain second connecting rod 304 is rotationally connected with the middle and rear part of the movable platform 2.
The third branched chain 5 comprises a third branched chain driving motor 501, a third branched chain first connecting rod 502, a third branched chain rigid-flexible coupling module 503, a third branched chain second connecting rod 504 and a third branched chain third connecting rod 505; the third branched chain driving motor 501 is fixed at the bottom of the lower connecting plate 103 of the fixed platform 1, an output shaft of the third branched chain driving motor 501 passes through the lower connecting plate 103 and is connected with one end of a third branched chain first connecting rod 502 through a speed reducer, the other end of the third branched chain first connecting rod 502 is rotationally connected with a third branched chain rigid-flexible coupling module 503, the third branched chain rigid-flexible coupling module 503 is simultaneously rotationally connected with one end of a third branched chain second connecting rod 504, two sides of the other end of the third branched chain second connecting rod 504 are respectively rotationally connected with two sides of the upper end of a third branched chain third connecting rod 505, and the lower end of the third branched chain third connecting rod 505 is fixedly connected with the middle rear part of the movable platform 2;
the rotation axes of the two ends of the first link 302, the rotation axes of the two ends of the second link, and the rotation axes of the first link 502 and the rigid-flexible coupling module 503 intersect at a point, which is the centering O of the rehabilitation robot 1 The method comprises the steps of carrying out a first treatment on the surface of the The axes of the rotation of the two ends of the first branched chain second connecting rod 304, the rotation of the two ends of the second branched chain second connecting rod, the rotation of the two ends of the third branched chain second connecting rod 504 and the rotation of the third branched chain third connecting rod 505 and the axis of the connecting hole of the third branched chain third connecting rod 505 and the movable platform 2 intersect at a point which is the movable spherical center O of the rehabilitation robot 2 。
The rigid-flexible coupling modules of the three branches have the same structure, wherein the first rigid-flexible coupling module 303 of the branched chain comprises a first rigid-flexible coupling module connecting rod 303-1, a second rigid-flexible coupling module connecting rod 303-2, a third rigid-flexible coupling module connecting rod 303-3, a fourth rigid-flexible coupling module connecting rod 303-4 and a torsional rigid-flexible coupling module spring 303-5; the two ends of the rigid-flexible coupling module second connecting rod 303-2 are respectively connected with the rigid-flexible coupling module first connecting rod 303-1 and the rigid-flexible coupling module fourth connecting rod 303-4 in a rotating way through connecting shafts, the two ends of the rigid-flexible coupling module third connecting rod 303-3 are respectively connected with the rigid-flexible coupling module first connecting rod 303-1 and the rigid-flexible coupling module fourth connecting rod 303-4 in a rotating way through connecting shafts, and the connecting points of the rigid-flexible coupling module first connecting rod 303-1, the rigid-flexible coupling module second connecting rod 303-2, the rigid-flexible coupling module third connecting rod 303-3 and the rigid-flexible coupling module fourth connecting rod 303-4 form a parallelogram, and each connecting shaft is provided with a rigid-flexible coupling module torsion spring 303-5 for realizing the resetting of the parallelogram; one end of a first connecting rod 303-1 of the rigid-flexible coupling module is rotatably connected with the other end of the first branched-chain first connecting rod 302, and one end of a fourth connecting rod 303-4 of the rigid-flexible coupling module is rotatably connected with one end of a second connecting rod 304 of the first branched-chain.
When the ankle joint rehabilitation training device is used, the feet of a patient are bound on the movable platform 2, the driving motors of the three branched chains are controlled by the controller, the movable platform 2 moves around the movable sphere center, and the movable platform 2 drives the feet of the patient to move, so that the ankle joint rehabilitation training is realized. The robot has three rotational degrees of freedom and two movement degrees of freedom, wherein the three rotational degrees of freedom are embodied in three driving motors, so that the complete control of the posture of the movable platform 2 can be realized, and the dorsiflexion/toe flexion, the varus/valgus and the internal/external rotation of the ankle joint are realized. The two degrees of freedom of movement are embodied in the rigid-flexible coupling modules of the three branched chains, and the positions of the movable spherical centers are finely adjusted through the torsion springs, so that the movable spherical centers move on the spherical surfaces with the length of the talus as the radius to fit the positions of the joints below the talus of a patient, so that the positions of feet of the patient are complied with, and the rehabilitation robot can control the positions and the postures of the movable platform to complied with the rehabilitation tracks of different patients.
In addition to the rigid ankle structure, the ankle joint includes a number of complex tissue ligaments under which the tibial and subtalar joints are no longer independent of each other, but instead are coupled in motion, which allows the ankle joint to macroscopically exhibit only three degrees of freedom, namely dorsiflexion/toe flexion in the sagittal plane, varus/valgus in the coronal plane, and varus/valgus movements about the longitudinal axis (horizontal plane) of the body, while the momentary posture of the talus is related to these three macroscopic angles of movement. Therefore, in order to accurately describe the instantaneous motion law of the ankle joint, the ankle joint rehabilitation robot is provided by considering the effect influence of ankle tissue ligaments on the basis of an SS type ankle bone structure.
When the rehabilitation robot is used for ankle rehabilitation training, a foot-distance associated motion model which can describe the motion correlation of ankle talus and foot is constructed, namely a man-machine system model. Defining a fixed coordinate system o of a rehabilitation robot 1 -x 1 y 1 z 1 Origin and centering O 1 Overlap, z 1 Shaft sagStraight down the moving platform, y 1 The axis coincides with the rotation axis of the third branched first link 502 and the third branched rigid-flexible coupling module 503, x 1 The axis is determined by the right hand rule; dynamic coordinate system o of rehabilitation robot 2 -x 2 y 2 z 2 Origin and dynamic sphere center O 2 Overlap, z 2 The axis is vertical to the movable platform and downwards, x 2 The axis coincides with the rotation axis of the right side of the upper end of the third branched chain third connecting rod 505 and the right side of the other end of the third branched chain second connecting rod 504, y 2 The axis is determined by the right hand rule.
The foot pose matrix is expressed as:
R Foot ＝Rot(x 1 ,α)Rot(y 1 ,β)Rot(z 1 ,γ) (1)
wherein: rot (x) 1 ,α)、Rot(y 1 Beta) and Rot (z 1 γ) is the rotation matrix of the foot around each axis of the fixed coordinate system, α, β and γ are the rotation angles of the foot around each axis of the fixed coordinate system, i.e., dorsiflexion/plantarflexion, varus/valgus, and varus/valgus angles of the ankle joint, α e (-30 °,45 °), β e (-22 °,22 °), γ e (-36 °,36 °);
the talus pose matrix is expressed as:
R Talus ＝Rot(x 1 ,α T )Rot(y 1 ,β T )Rot(z 1 ,γ T )(3)
wherein: rot (x) 1 ,α T )、Rot(y 1 ,β T ) And Rot (z) 1 ,γ T ) Rotation matrix, alpha, for talus around each axis of a fixed coordinate system T 、β T And gamma T Setting the rotational angle of each axis of the coordinate system for the talus, i.e., dorsiflexion/plantarflexion, varus/valgus and varus/valgus angle of the talus;
the pose transformation matrix using the dynamic coordinate system relative to the fixed coordinate system can be used for ankle instantaneous motion description, and is therefore defined as an "ankle motion matrix", expressed as:
p Talus ＝R Talus (0,0,l) T (5)
wherein: p is p Talus The position vector of the center of the tibial talus joint in a fixed coordinate system is represented by l, which is the talus length;
it is not difficult to find out by taking formula (3) into formula (5), vector p Talus Angle gamma with talus internal/external rotation T Independent, i.e. gamma T Does not affect the motion description of the ankle joint, so only the rotation angle alpha is used T And beta T Defined as talus motor parameters, and rotational angles α, β, and γ are defined as foot stance parameters;
talus pose parameter (alpha) T /β T ) The functional model as a function of foot posture parameter (α/β/γ) is defined as a "foot-distance correlated motion model", which is expressed as:
wherein: k (k) α 、k β As a scale factor, E α (α,β,γ)、E β (α, β, γ) is an error function;
to ensure structural symmetry of the rehabilitation robot, the axis O 1 A 0 Z with fixed coordinate system 1 Axis of coincidence, axis O 1 A 1 With O 1 A 2 With respect to plane y 1 o 1 z 1 Symmetrically arranged, A 0 A is the connection center of the third branched chain third connecting rod 505 and the movable platform 2 1 A is the rotation center of the first branched chain driving motor 301 and the first branched chain first connecting rod 302 2 Is the rotation center of the second branched chain driving motor and the second branched chain first connecting rod, thus, the axis O 1 A i (i=0, 1, 2) unit vector a in fixed coordinate system i Can be expressed by spherical coordinates as:
wherein:is the unit vector a 1 And x 1 Included angle of shaft->Is the unit vector a 1 In plane y 1 o 1 z 1 Projection onto and z 1 Included angle of shaft->Is an included angle->Sine and cosine values of +.>Is an included angle->Sine and cosine values of (a);
axis O 2 C 0 And x 2 Axis of coincidence, axis O 2 C 1 With O 2 C 2 With respect to plane y 2 o 2 z 2 Symmetrically arranged, C 0 C is the rotation center of the right side of the third branched chain second connecting rod and the right side of the third branched chain third connecting rod 1 C is the rotation center of the first branched chain second connecting rod and the movable platform 2 The second connecting rod is a second branched chain and is the rotation center of the second connecting rod and the movable platform; thus, the axis O 2 C i (i=0, 1, 2) unit vector c in fixed coordinate system i Can be expressed by spherical coordinates as:
wherein:is the unit vector c 1 And x 2 Included angle of shaft->Is the unit vector c 1 In plane y 2 o 2 z 2 Projection onto and x 2 Included angle of shaft->Is an included angle->Sine and cosine values of +.>Is an included angle->Sine and cosine values of (a);
axis O 1 B Ui Parallel to O 2 B Li (i＝0,1,2)，B Ui B is the rotation center of the first connecting rod of the ith branched chain and the rigid-flexible coupling module Li Is the rotation center of the i-th branched chain rigid-flexible coupling module and the second connecting rod, so that the axis O 1 B Ui Unit vector b in fixed coordinate system i Expressed as:
b i ＝(b i1 ,b i2 ,b i3 ) T (9)
the axis O can be calculated according to the pose transformation matrix of the dynamic coordinate system relative to the fixed coordinate system 2 C i The unit vector coordinates in the fixed coordinate system are:
O 2 C i ＝R Foot ×c＝(c 1 ,c 2 ,c 3 ) T (10)
define a plane perpendicular to the axis O 1 A i And O 2 C i Is d i It is expressed as:
d i ＝(d i1 ,d i2 ,d i3 )＝O 1 A i ×O 2 C i ＝(a i2 c i3 -a i3 c i2 ,a i3 c i1 -a i1 c i3 ,a i1 c i2 -a i2 c i1 ),i＝0,1,2 (11)
according to the unit vector b i With axis O 1 A i And O 2 C i Included angles of (a) are respectivelyAnd->The following equation can thus be established:
wherein,,and->Respectively is an included angle->And->Cosine values of (2);
the method comprises the following steps of:
during rehabilitation exercise, the double-axis line O of the rehabilitation robot 1 O 2 Always coincides with the ankle talus, so according to formula (4), the two-axis line O 1 O 2 The unit vector coordinates within the fixed coordinate system can be expressed as:
to ensure the symmetry of the rehabilitation robot structure, the double-core line O is arranged 1 O 2 Vector b of AND 1 And b 2 Are equal in included angleThis can be achieved by:
the preparation method comprises the following steps of:
combining equations (17), (18), (13), (14) and (11) may yield talus pose parameters (α) T /β T ) Mapping relation with foot posture parameter (alpha/beta/gamma), expressed as:
wherein: g α (·)、g β (. Cndot.) is a mapping function;
talus posture parameter (alpha) is known T /β T ) And foot posture parameter (alpha/beta)Gamma) of the rehabilitation robot according to formula (19)The optimal design of the rehabilitation robot is realized.
The application is applicable to the prior art where it is not described.

Claims (4)

1.一种刚柔耦合踝关节康复机器人，包括定平台、动平台、第一支链、第二支链和第三支链；三条支链均与定平台和动平台连接，第一支链和第二支链的结构相同且对称分布在第三支链两侧；其特征在于，1. A rigid-flexible coupling ankle joint rehabilitation robot, comprising a fixed platform, a moving platform, a first branch, a second branch, and a third branch; all three branches are connected to the fixed platform and the moving platform, and the first and second branches have identical structures and are symmetrically distributed on both sides of the third branch; characterized in that, 所述第一支链包括第一支链驱动电机、第一支链第一连杆、第一支链刚柔耦合模块和第一支链第二连杆；第一支链驱动电机与定平台连接，第一支链第一连杆一端与第一支链驱动电机的输出轴连接，第一支链第一连杆另一端与第一支链刚柔耦合模块转动连接，第一支链刚柔耦合模块同时与第一支链第二连杆一端转动连接，第一支链第二连杆另一端与动平台中后部转动连接；The first branch includes a first branch drive motor, a first branch first link, a first branch rigid-flexible coupling module, and a first branch second link; the first branch drive motor is connected to the fixed platform, one end of the first branch first link is connected to the output shaft of the first branch drive motor, the other end of the first branch first link is rotatably connected to the first branch rigid-flexible coupling module, the first branch rigid-flexible coupling module is simultaneously rotatably connected to one end of the first branch second link, and the other end of the first branch second link is rotatably connected to the rear part of the moving platform; 所述第三支链包括第三支链驱动电机、第三支链第一连杆、第三支链刚柔耦合模块、第三支链第二连杆和第三支链第三连杆；第三支链驱动电机位于定平台下部，第三支链驱动电机的输出轴与第三支链第一连杆一端连接，第三支链第一连杆另一端与第三支链刚柔耦合模块转动连接，第三支链刚柔耦合模块同时与第三支链第二连杆一端转动连接，第三支链第二连杆另一端的两侧分别与第三支链第三连杆上端的两侧转动连接，第三支链第三连杆的下端与动平台中后部固定连接；The third branch includes a third branch drive motor, a third branch first link, a third branch rigid-flexible coupling module, a third branch second link, and a third branch third link. The third branch drive motor is located at the bottom of the fixed platform. The output shaft of the third branch drive motor is connected to one end of the third branch first link. The other end of the third branch first link is rotatably connected to the third branch rigid-flexible coupling module. The third branch rigid-flexible coupling module is rotatably connected to one end of the third branch second link. The two sides of the other end of the third branch second link are rotatably connected to the two sides of the upper end of the third branch third link. The lower end of the third branch third link is fixedly connected to the middle and rear of the moving platform. 第一支链刚柔耦合模块与第三支链刚柔耦合模块的结构相同，均包括四个连杆和扭簧；四个连杆依次转动连接组成平行四边形，相邻两个连杆的连接处安装一个扭簧；The first branch rigid-flexible coupling module and the third branch rigid-flexible coupling module have the same structure, both including four links and torsion springs; the four links are rotatably connected in sequence to form a parallelogram, and a torsion spring is installed at the connection of two adjacent links; 该康复机器人具有一个定球心和动球心，三条支链的驱动电机控制动平台姿态，实现踝关节的背/趾屈、内/外翻以及内/外旋，三条支链的刚柔耦合模块通过扭簧调节动球心的位置，使动球心在以距骨长度为半径的球面上移动，以拟合人体距下关节的位置。This rehabilitation robot has a fixed center and a movable center. Three drive motors control the posture of the moving platform to achieve dorsiflexion/phalangeal flexion, inversion/eversion, and internal/external rotation of the ankle joint. The rigid-flexible coupling module of the three branches adjusts the position of the movable center through torsion springs, so that the movable center moves on a spherical surface with a radius of talus length to fit the position of the subtalar joint of the human body. 2.根据权利要求1所述的刚柔耦合踝关节康复机器人，其特征在于，所述康复机器人的距骨姿态参数(αT/βT)与足部姿态参数(α/β/γ)的映射关系如式(19)所示，根据映射关系得到康复机器人结构参数实现结构优化；2. The rigid-flexible coupling ankle joint rehabilitation robot according to claim 1, characterized in that the mapping relationship between the talus posture parameters ( αT / βT ) and the foot posture parameters (α/β/γ) of the rehabilitation robot is as shown in equation (19), and the structural parameters of the rehabilitation robot are obtained according to the mapping relationship. Achieve structural optimization; 式中：gα(·)、gβ(·)为映射函数，αT和βT为距骨绕定坐标系x、y轴的转角，α、β和γ为足部绕定坐标系x、y和z轴的转角，(b11,b12,b13)T为轴线O1BU1在定坐标系中的单位向量b1，(b21,b22,b23)T为轴线O1BU2在定坐标系中的单位向量b2，为轴线O1A1在定坐标系中的单位向量a1与定坐标系x轴的夹角，为单位向量a1在定坐标系面yoz上的投影与定坐标系z轴的夹角，为轴线O2C1在定坐标系中的单位向量c1与动坐标系x轴的夹角，为单位向量c1在动坐标系面yoz上的投影与动坐标系x轴的夹角，和分别为单位向量bi与轴线O1Ai和O2Ci的夹角，为双心线O1O2与单位向量b1或b2的夹角，O1为康复机器人的定球心，O2为康复机器人的动球心，bi为轴线O1BUi在定坐标系中的单位向量，BUi为第i条第一连杆与第一支链刚柔耦合模块的转动中心，Ai为第i条支链驱动电机与第一连杆的转动中心，Ci为第i条支链第二连杆与动平台的转动中心，为夹角的余弦值；定坐标系的原点位于康复机器人定球心，z轴垂直于动平台向下，y轴与第三支链第一连杆和第三支链刚柔耦合模块的转动轴线重合，x轴服从右手定则；动坐标系的原点位于康复机器人的动球心，z轴垂直于动平台向下，x轴与第三支链第三连杆上端右侧和第三支链第二连杆另一端右侧的转动轴线重合，y轴服从右手定则。In the formula: gα (·) and gβ (·) are mapping functions; αT and βT are the rotation angles of the talus around the x and y axes of the fixed coordinate system; α, β, and γ are the rotation angles of the foot around the x, y, and z axes of the fixed coordinate system; ( b11 , b12 , b13 ) T is the unit vector b1 of axis O1BU1 in the fixed coordinate system ; and ( b21 , b22 , b23 ) T is the unit vector b2 of axis O1BU2 in the fixed coordinate system. Let a be the angle between the unit vector a1 of axis O1A1 in the fixed coordinate system and the x-axis of the fixed coordinate system. Let be the angle between the projection of the unit vector a1 onto the plane yoz in the fixed coordinate system and the z-axis of the fixed coordinate system. Let c1 be the unit vector c1 of axis O2C1 in the fixed coordinate system and the x-axis of the moving coordinate system. Let be the angle between the projection of the unit vector c1 onto the moving coordinate system plane yoz and the moving coordinate system x-axis. and Let be the angles between the unit vector b<sub>i</sub> and the axes O <sub>1 </sub>A<sub>i</sub> and O <sub>2 </sub>C<sub>i</sub> , respectively. Let O1 be the angle between the double-center line O1O2 and the unit vector b1 or b2 , where O1 is the fixed center of the rehabilitation robot, O2 is the moving center of the rehabilitation robot, b1 is the unit vector of the axis O1B2 in the fixed coordinate system, B2B2 is the rotation center of the rigid-flexible coupling module of the i-th first link and the first branch, Ai is the rotation center of the drive motor of the i-th branch and the first link, and Ci is the rotation center of the second link of the i-th branch and the moving platform. Angle The cosine value; the origin of the fixed coordinate system is located at the center of the fixed sphere of the rehabilitation robot, the z-axis is perpendicular to the moving platform downwards, the y-axis coincides with the rotation axis of the first link of the third branch and the rigid-flexible coupling module of the third branch, and the x-axis follows the right-hand rule; the origin of the moving coordinate system is located at the center of the moving sphere of the rehabilitation robot, the z-axis is perpendicular to the moving platform downwards, the x-axis coincides with the rotation axis of the upper right side of the third link of the third branch and the other right side of the second link of the third branch, and the y-axis follows the right-hand rule. 3.根据权利要求2所述的刚柔耦合踝关节康复机器人，其特征在于，所述单位向量bi满足下述方程：3. The rigid-flexible coupling ankle joint rehabilitation robot according to claim 2, characterized in that the unit vector b<sub> i </sub> satisfies the following equation: 式中：(ai1,ai2,ai3)为轴线O1Ai在定坐标系中的单位向量坐标，(bi1,bi2,bi3)T为单位向量bi的坐标，(ci1,ci2,ci3)为轴线O2Ci在定坐标系中的单位向量坐标，为夹角的余弦值，为夹角的余弦值。In the formula: ( ai1 , ai2 , ai3 ) are the unit vector coordinates of axis O1 Ai in the fixed coordinate system, ( bi1 , bi2 , bi3 ) T are the coordinates of unit vector bi , and ( ci1 , ci2 , ci3 ) are the unit vector coordinates of axis O2 Ci in the fixed coordinate system. Angle cosine value, Angle The cosine value. 4.根据权利要求1所述的刚柔耦合踝关节康复机器人，其特征在于，所述第一支链第一连杆两端的转动轴线、第二支链第一连杆两端的转动轴线、第三支链第一连杆与第三支链刚柔耦合模块的转动轴线交于康复机器人的定球心；第一支链第二连杆两端的转动轴线、第二支链第二连杆两端的转动轴线、第三支链第二连杆两端和第三支链第三连杆的转动轴线以及第三支链第三连杆与动平台连接孔的轴线交于康复机器人的动球心。4. The rigid-flexible coupling ankle joint rehabilitation robot according to claim 1, characterized in that the rotation axes at both ends of the first link of the first branch, the rotation axes at both ends of the first link of the second branch, the rotation axes of the first link of the third branch and the rigid-flexible coupling module of the third branch intersect at the fixed center of the rehabilitation robot; the rotation axes at both ends of the second link of the first branch, the rotation axes at both ends of the second link of the second branch, the rotation axes at both ends of the second link of the third branch and the third link of the third branch, and the axis of the third link of the third branch and the connection hole of the moving platform intersect at the moving center of the rehabilitation robot.
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