Bio-Inspired Ankle Rehabilitation Mechanism Based on Cable-Driven

Tong Wang1; Rongjie Kang1; Zhongxia Xiang1; Peikang Yuan1; Le Chang1; Zhibin Song1; Jian S. Dai2

10.1109/CYBER59472.2023.10256455

2023

2379-7711

979-8-3503-1520-2

2023 IEEE 13th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)

645-650

11-14 July 2023

Qinhuangdao, China

The ankle joint is the most important weight-bearing joint in the human body and is easily injured. Therefore, a lot of research has been carried out on the robotic mechanism of ankle rehabilitation. However, most rehabilitation mechanisms are difficult to apply due to the lack of compliance and adaptability. According to the anatomic structure of an ankle joint, a bio-inspired ankle rehabilitation mechanism driven by cables was designed by simulating antagonistic muscles. The kinematics of the rehabilitation mechanism is then analyzed. Finally, the ankle joint trajectories of five participants were compared in the case of normal movement and using the rehabilitation mechanism, demonstrating the compliance and adaptability of the presented rehabilitation mechanism.

Training Automation Kinematics Muscles Control systems Trajectory Springs

其他

EI

20234314959301

Cables ; Compliance control

Biotechnology:461.8 ; Biology:461.9 ; Specific Variables Control:731.3

IEEE

1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
2.Institute for Robotics, Southern University of Science and Technology, Shenzhen, China

Tong Wang,Rongjie Kang,Zhongxia Xiang,et al. Bio-Inspired Ankle Rehabilitation Mechanism Based on Cable-Driven[C],2023:645-650.