Simulation and Formulation of Rehabilitation Strategies for a Novel Ankle Rehabilitation Robot
A novel ankle rehabilitation robot and its mechanism composition, were proposed. The 3D modeling of the proposed ankle rehabilitation robot and the 3D modeling of the complete human body were established. The integration of the two 3D models was further p
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Abstract A novel ankle rehabilitation robot and its mechanism composition, were proposed. The 3D modeling of the proposed ankle rehabilitation robot and the 3D modeling of the complete human body were established. The integration of the two 3D models was further proceeded by importing the robot models into the AnyBody simulation software. A driving function was also designed on the basis of the sine function; the inverse kinematic analysis and muscle force analysis of the integrated model are carried out. The driving function design was executed to determine the relationships of the movement of the angles for the proposed ankle rehabilitation robot with the activity and passive traction of the muscles. A rehabilitation strategy was also developed according to different motion amplitudes, velocity, and different external environments in dorsal flexion motion. This research would provide a reference for further design of the structure and control of rehabilitation robots. Keywords Ankle rehabilitation Rehabilitation strategies
Biomechanics Simulation Sine function
1 Introduction Foot supporting the human body to complete a series of daily activities is an important limb of the human body. The ankle is an essential joint in the foot, and it is the heaviest joint of the body [1]. However, aging deters the recovery ability of the ankle and thus causes joint pain. Consequently, ankle injury affects a person’s daily life. Thus, ankle rehabilitation training should be recommended for patients with this injury. For instance, exercise therapy as a rehabilitation training method involves movement tasks to promote the repair of damaged parts in a reasonable working space by using auxiliary sports equipment. The ankle rehabilitation robot has been extenZ. Liao Z. Lu C. Peng L. Yao (&) School of Mechanical Engineering and Automation, Fuzhou University, No. 2, Xueyuan Road, Fuzhou 350116, Fujian, P. R. China e-mail: [email protected] © Springer Nature Singapore Pte Ltd. 2018 L. Yao et al. (eds.), Advanced Mechanical Science and Technology for the Industrial Revolution 4.0, https://doi.org/10.1007/978-981-10-4109-9_1
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sively investigated [2–8]. Warnica et al. investigated the effects of muscle activation and passive ankle stiffness on the amplitude and frequency of postural sway [9]. They proposed that the active contraction of ankle muscles may affect balance control in quiet standing, but its effects are different from the use of ankle foot orthosis. Naito et al. proposed a method to estimate muscle length parameters based on measured data [10], especially Hill muscle model of muscle and bone structures. An estimation method based on individual muscle skeletal model analysis is also utilized to quantify the muscle length parameters passive joint torque characteristics. Benjamin et al. examined the effects of mechanical assistance on the biomechanical properties of the related muscular system [11]. They focused on system dynamics in a range of biologically active muscle and bone spring stiff
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