Multi-mode compliance training method for ankle rehabilitation robot on basis of admittance model

Abstract

The invention relates to a multi-mode compliance training method for a parallel ankle rehabilitation robot driven by a servo motor on the basis of an admittance model. The multi-mode compliance training method comprises three training modes, i.e., passive compliance, isotonic training and active training. The three training modes can perform single-axis movement in three freedom degree directionsof dorsal extension/plantar flexion, adduction/abduction and introversion/extroversion, and also can perform multi-axis linkage. A man-machine coupling system of the ankle rehabilitation robot is equivalent to a mass-spring-damping second-order system; an output angle of a robot moving platform is converted into convolution of an input torque and a pulse function; and corresponding admittance model transformation is carried out according to respective characteristics of three compliance training modes to respectively realize compliance training of three rehabilitation stages, i.e., an early stage with weak ankle muscle strength, a middle stage with a certain muscle strength level of ankle joints and a later stage of rehabilitation training with a high muscle strength level of the ankle joints. The multi-mode compliance training method provided by the invention can adapt to different rehabilitation training stages of patients with ankle function impairment and meets the requirements ofankle rehabilitation training in different stages for compliance and safety.

Description

technical field [0001] The invention relates to the field of rehabilitation robot control, in particular to a multi-mode compliance training method for an ankle rehabilitation robot based on an admittance model. Background technique [0002] The total population base in my country is huge, and with the rapid development of the aging process, the number of stroke patients has increased sharply, and the prognosis of stroke is poor, accompanied by a high proportion of patients with foot drop. In addition, the clubfoot varus and valgus deformity caused by cerebral palsy is also a common orthopedic disease in children in my country. Generally, ankle joint release orthopedic surgery is required, supplemented by postoperative rehabilitation. An important factor for ankle dysfunction is the existence of damage to the central nervous system. Correspondingly, the fundamental goal of rehabilitation training is to stimulate the reorganization and compensation of the central nervous syst...

AI Technical Summary

Problems solved by technology

There are two types of existing ankle rehabilitation robots: pneumatic and electric. Most of them adopt passive rehabilitation training based on position control. Especially for electric parallel ankle rehabilitation robots, the driving motor is not as flexible as pneumatic artificial muscles. , the existing control strategy does not combine the compliance training method realized by the robot platform, which cannot guarantee the compliance and safety in the rehabilitation training process, especially the lack of a full compliance rehabilitation training method for different stages of the ankle rehabilitation process

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