A motion control method for hybrid ankle joint rehabilitation machine based on nutation principle

Abstract

The invention relates to a nutation principle-based motion control method of a hybrid ankle rehabilitation machine. The method comprises the following steps: S1, establishing a fixed coordinate systemand a moving coordinate system; S2, carrying out initial setting on the numerical value of a nutation angle and the nutation movement locus of a moving platform, and acquiring angles at which meshingpoint rotates on a meshing circle at all moments relative to the initial moment; S3, acquiring lifting displacements, relative to the initial position, of three longitudinal push rods at all moments;S4, controlling the longitudinal push rods based on the lifting displacements of the longitudinal push rods at all moments. Compared with the prior art, the motion control method provided by the invention solves an analytical expression of the displacements of all the push rods in the hybrid ankle rehabilitation device by establishing a mathematical model, further gives the displacements of all the push rods in the rehabilitation device, and achieves a compound rehabilitation effect of plantar flexion / dorsal flexion and varus / valgus movement, thus accelerating the partial rehabilitation of apatient and shortening the rehabilitation cycle; the method meets the needs of the patient in all recovery stages by adjusting the nutation angle.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a motion control method for a hybrid ankle joint rehabilitation machine based on the principle of nutation. Background technique [0002] With the application and practice of robot technology in modern medicine, rehabilitation robots have become scientific and effective auxiliary treatment tools for patients. Ankle joint injury is a very common way of bone injury, and ankle joint rehabilitation is a long-term and lengthy process. The mode of rehabilitation strategy in the existing research is relatively single, and it is easy to cause secondary damage to the ankle joint. In order to avoid secondary damage to the ankle joint, it is very important to plan the rehabilitation trajectory of the ankle joint. It is necessary to plan the trajectory of the ankle joint rehabilitation device. Plan carefully. [0003] The structure of the hybrid ankle joint rehabilitation machine i...

AI Technical Summary

Problems solved by technology

The mode of rehabilitation strategy in the existing research is relatively single, and it is easy to cause secondary damage to the ankle joint. In order to avoid secondary damage to the ankle joint, it is very important to plan the rehabilitation trajectory of the ankle joint. It is necessary to plan the trajectory of the ankle joint rehabilitation device. make careful planning

[0003] The structure of the hybrid ankle joint rehabilitation machine is as follows: figure 1 As shown, it is composed of a connecting rod 1, a rocker 2, a moving platform 3, a pedal 4, a vertical lifting drive device, a support rod 6, a rotating platform 7 and a base 9, and the vertical lifting drive device is composed of three longitudinal push rods 5 along the circumference. Each vertical push rod 5 is driven up and down by a stepping motor 8. When in use, the pedal 4 moves with the platform, and the plantarflexion / dorsiflexion and varus / valgus movement of the pedal 4 are controlled by the vertical lifting drive device. The three vertical push rods 5 are raised and lowered, and the abduction / adduction movement of the pedal 4 is realized by the rotation of the rotating platform 7 and the linkage of the support rod 6, the rocker 2, and the connecting rod 1. The traditional rehabilitation machine motion control method can only Single plantarflexion / dorsiflexion or varus / valgus movement control, and currently there is no effective and simple compound multimodal control method to combine plantarflexion / dorsiflexion, varus / valgus movement

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