An ankle joint auxiliary rehabilitation robot has been developed, which consists of an upper platform, a lower platform, a dorsiflexion/plantar flexion drive system, a varus/valgus drive system, and some connecting parts. The upper platform connects to the lower platform through a ball pin pair and two driving branch chains based on the SPS mechanism. Although the robot has two degrees of freedom (DOF), the upper platform can realize three kinds of motion. To achieve ankle joint auxiliary rehabilitation, the ankle joint of patients on the upper platform makes a bionic motion. The robot uses a centre ball pin pair as the main support to simulate the motion of the ankle joint; the upper platform and the centre ball pin pair construct a mirror image of a patient’s foot and ankle joint, which satisfies the human body physiological characteristics; the driving systems adopt a rigid-flexible hybrid structure; and the dorsiflexion/plantar flexion motion and the varus/valgus motion are decoupled. These structural features can avoid secondary damage to the patient. The rehabilitation process is considered, and energy consumption of the robot is studied. An experimental prototype demonstrates that the robot can simulate the motion of the human foot.

中文翻译：

---

基于2-S'PS'机构的刚柔混合驱动踝关节辅助康复机器人的研究。

已经开发了踝关节辅助康复机器人，该机器人包括上平台，下平台，背屈/足底屈曲驱动系统，内翻/外翻驱动系统以及一些连接部件。上层平台通过一对球形销和两个基于S PS的驱动分支链连接到下层平台机制。尽管机器人具有两个自由度（DOF），但上平台可以实现三种运动。为了实现踝关节辅助康复，上平台上的患者的踝关节进行仿生运动。机器人使用一对中心球销作为主要支撑，以模拟踝关节的运动。上平台和中心球销对构成患者脚踝关节的镜像，满足人体生理特性。驱动系统采用刚柔混合结构。背屈/足底屈曲运动与内翻/外翻运动解耦。这些结构特征可以避免对患者的二次伤害。考虑了修复过程，并研究了机器人的能耗。