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Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety
Industrial Robot ( IF 1.8 ) Pub Date : 2020-05-11 , DOI: 10.1108/ir-02-2020-0040
Jianfeng Li , Wenpei Fan , Mingjie Dong , Xi Rong

Purpose

The purpose of this paper is to implement a passive compliance training strategy for our newly designed 2-UPS/RRR parallel ankle rehabilitation robot (PARR) to enhance its rehabilitation training safety.

Design/methodology/approach

First, a kinematic analysis of the PARR is introduced, and the mechanism ensures that the rotation centre of the ankle joint complex (AJC) coincides with robot’s rotation centre. Then, a passive compliance training strategy based on admittance control is described in detail and is implemented on our PARR.

Findings

Experiments involving healthy subjects were conducted, and the performance of trajectory tracking was quantitatively evaluated, with the results showing excellent compliance and trajectory tracking accuracy, which can ensure that a secondary injury to the AJC during passive rehabilitation training is avoided. The influence of different admittance parameters was also simulated and analysed, which can contribute to the development of adaptive parameter adjustment research.

Originality/value

The paper can be used to improve the effectiveness of ankle rehabilitation, to alleviate manual therapy problems in terms of labour intensiveness, precision and subjectivity and to ensure safety and comfort during rehabilitation sessions.



中文翻译:

在平行的脚踝康复机器人上实施被动顺应性训练,以提高安全性

目的

本文的目的是为我们新设计的2-UPS / RRR并联踝关节康复机器人(PARR)实施被动遵从性培训策略,以提高其康复培训的安全性。

设计/方法/方法

首先,介绍了PARR的运动学分析,该机制可确保踝关节复合体(AJC)的旋转中心与机器人的旋转中心一致。然后,详细介绍了基于导纳控制的被动合规培训策略,并在我们的PARR上实现了该策略。

发现

进行了涉及健康受试者的实验,并对轨迹跟踪的性能进行了定量评估,结果显示了出色的依从性和轨迹跟踪准确性,可以确保避免在被动康复训练期间对AJC造成继发性伤害。还对不同导纳参数的影响进行了仿真分析,为自适应参数调整研究的发展做出了贡献。

创意/价值

该论文可用于提高脚踝康复的有效性,减轻人工劳动强度,准确性和主观性方面的问题,并确保康复期间的安全性和舒适性。

更新日期:2020-05-11
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