Rehabilitation robots are playing an important role in restoring movement ability of hemiplegic patients. However, most of these robots adopt motors as actuators. Considering human body is a flexible organism, rigid motors lack compliance when getting in touch with patients. This paper designs an ankle rehabilitation robot by employing pneumatic muscle actuators which are soft and have similar compliance with biological muscles. Analysis of motion characteristics of human ankle is performed, and relationship between angle and torque of human ankle acquired from experiment is studied. Driving mechanism using pneumatic muscle actuators is addressed carefully and ankle-rehabilitation robot is designed. Then, dynamics of the robot is established and structure optimization of the driving mechanism is performed. Consequently, prototype is manufactured and assembled.

中文翻译：

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由气动人工肌肉驱动的康复机器人

康复机器人在恢复偏瘫患者的运动能力方面发挥着重要作用。然而，这些机器人大多采用电机作为执行器。考虑到人体是一个灵活的有机体，刚性电机在与患者接触时缺乏顺应性。本文采用气动肌肉致动器设计了一款踝关节康复机器人，该气动肌肉致动器具有与生物肌肉相似的柔顺性。对人体踝关节的运动特性进行了分析，研究了从实验中获得的人体踝关节角度与力矩的关系。仔细研究了使用气动肌肉执行器的驱动机构，设计了踝关节康复机器人。然后，建立了机器人的动力学特性，并对驱动机构进行了结构优化。所以，