Kinematics analysis and scale optimization of four degree of freedom generalized spherical parallel mechanism for ankle joint rehabilitation_Journal of Biomedical Engineering

Authors：

LIU Xusheng ^1,2 ,  ZHANG Jianjun ^1,2 , LIU Chenglei ^1,2 , NIU Jianye ^1,2 , QI Kaicheng ^1,2 , GUO Shijie ^1,2

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, P.R.China;
2. Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion, Tianjin 300130, P.R.China;

Corresponding author：

ZHANG Jianjun, Email: zhjjun@hebut.edu.cn

Keywords：

ankle rehabilitation; generalized spherical parallel mechanism; position inverse solution; workspace; scale optimization

DOI：

10.7507/1001-5515.202006080

Video：

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By analyzing the physiological structure and motion characteristics of human ankle joint, a four degree of freedom generalized spherical parallel mechanism is proposed to meet the needs of ankle rehabilitation. Using the spiral theory to analyze the motion characteristics of the mechanism and based on the method of describing the position with spherical coordinates and the posture with Euler Angle, the inverse solution of the closed vector equation of mechanism position is established. The workspace of mechanism is analyzed according to the constraint conditions of inverse solution. The workspace of the moving spherical center of the mechanism is used to match the movement space of the tibiotalar joint, and the workspace of the dynamic platform is used to match the movement space of subtalar joint. Genetic algorithm is used to optimize the key scale parameters of the mechanism. The results show that the workspace of the generalized spherical parallel mechanism can satisfy the actual movement space of human ankle joint rehabilitation. The results of this paper can provide theoretical basis and experimental reference for the design of ankle joint rehabilitation robot with high matching degree.

Citation： LIU Xusheng, ZHANG Jianjun, LIU Chenglei, NIU Jianye, QI Kaicheng, GUO Shijie. Kinematics analysis and scale optimization of four degree of freedom generalized spherical parallel mechanism for ankle joint rehabilitation. Journal of Biomedical Engineering, 2021, 38(2): 286-294. doi: 10.7507/1001-5515.202006080 Copy

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3.	夏燊, 赵泽雨, 徐永清, 等. 后跟部形态学测量及解剖型跟骨外固定器的设计. 中国修复重建外科杂志, 2020, 34(4): 475-481.
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6.	Malosio M, Negri S P, Pedrocchi N, et al. A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation//2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, 2012: 3356-3359.
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8.	李剑锋, 李世才, 陶春静, 等. 并联2-UPS/RRR踝关节康复机构及运动性能分析. 机器人, 2016, 38(2): 144-153.
9.	李剑锋, 张凯, 张雷雨, 等. 并联踝康复机器人的设计与运动性能评价. 机械工程学报, 2019, 55(9): 29-39.
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12.	张彦斌, 荆献领, 韩建海, 等. 新型RR-RURU踝关节康复机器人机构的设计与分析. 中国机械工程, 2019, 30(14): 1734-1741.
13.	卜鹏飞, 李川, 李军, 等. 踝关节假体发展及临床应用. 中国修复重建外科杂志, 2019, 33(11): 1370-1373.
14.	Khalid Y M, Gouwanda D, Parasuraman S. A review on the mechanical design elements of ankle rehabilitation robot. Proc Inst Mech Eng H, 2015, 229(6): 452-463.
15.	Miao Qing, Zhang Mingming, Wang Congzhe, et al. Towards optimal platform-based robot design for ankle rehabilitation: the state of the art and future prospects. J Healthc Eng, 2018, 2018: 1534247.
16.	Huang Zhen, Li Qinchuan. Type synthesis of symmetrical lower-mobility parallel machanisms using the constraint-synthesis method. International Journal of Robotics Research, 2003, 22(1): 59-79.
17.	陈子明, 黄坤, 张扬, 等. 一种无汇交轴线对称三转动并联机构的运动分析. 中国机械工程, 2016, 27(9): 1215-1222.
18.	熊有伦. 机器人技术基础. 武汉: 华中理工大学出版社, 1996: 45-57.
19.	禹润田, 方跃法, 郭盛. 绳驱动并联踝关节康复机构设计及运动性能分析. 机器人, 2015, 37(1): 53-62, 73.
20.	国家技术监督局. GB/T 10000-1998中国成年人人体尺寸. 北京: 中国标准出版社, 2004.
21.	Dul J, Johnson G E. A kinematic model of the human ankle. J Biomed Eng, 1985, 7(2): 137-143.

1. 姚太顺, 孟宪杰. 踝关节外科. 北京: 中国中医药出版社, 1998.
2. 焦爽, 闫汝蕴. 本体感觉训练预防踝关节运动损伤研究进展. 中国运动医学杂志, 2009, 28(6): 713-716.
3. 夏燊, 赵泽雨, 徐永清, 等. 后跟部形态学测量及解剖型跟骨外固定器的设计. 中国修复重建外科杂志, 2020, 34(4): 475-481.
4. Girone M, Burdea G, Bouzit M, et al. A stewart platform-based system for ankle tele-rehabilitation. Auton Robots, 2001, 10(2): 203-212.
5. Saglia J A, Tsagarakis N G, Dai Jians, et al. Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT). IEEE-ASME Transactions on Mechatronics, 2013, 18(6): 1799-1808.
6. Malosio M, Negri S P, Pedrocchi N, et al. A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation//2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, 2012: 3356-3359.
7. 边辉, 刘艳辉, 梁志成, 等. 并联2-RRR/UPRR踝关节康复机器人机构及其运动学. 机器人, 2010, 32(1): 6-12.
8. 李剑锋, 李世才, 陶春静, 等. 并联2-UPS/RRR踝关节康复机构及运动性能分析. 机器人, 2016, 38(2): 144-153.
9. 李剑锋, 张凯, 张雷雨, 等. 并联踝康复机器人的设计与运动性能评价. 机械工程学报, 2019, 55(9): 29-39.
10. 李剑锋, 徐成辉, 陶春静, 等. 基于3-UPS/RRR的并联踝关节康复机构及其性能分析. 自动化学报, 2016, 42(12): 1794-1807.
11. Wang C, Fang Y, Guo S, et al. Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation. Journal of Mechanisms & Robotics, 2013, 5(4): 041003.
12. 张彦斌, 荆献领, 韩建海, 等. 新型RR-RURU踝关节康复机器人机构的设计与分析. 中国机械工程, 2019, 30(14): 1734-1741.
13. 卜鹏飞, 李川, 李军, 等. 踝关节假体发展及临床应用. 中国修复重建外科杂志, 2019, 33(11): 1370-1373.
14. Khalid Y M, Gouwanda D, Parasuraman S. A review on the mechanical design elements of ankle rehabilitation robot. Proc Inst Mech Eng H, 2015, 229(6): 452-463.
15. Miao Qing, Zhang Mingming, Wang Congzhe, et al. Towards optimal platform-based robot design for ankle rehabilitation: the state of the art and future prospects. J Healthc Eng, 2018, 2018: 1534247.
16. Huang Zhen, Li Qinchuan. Type synthesis of symmetrical lower-mobility parallel machanisms using the constraint-synthesis method. International Journal of Robotics Research, 2003, 22(1): 59-79.
17. 陈子明, 黄坤, 张扬, 等. 一种无汇交轴线对称三转动并联机构的运动分析. 中国机械工程, 2016, 27(9): 1215-1222.
18. 熊有伦. 机器人技术基础. 武汉: 华中理工大学出版社, 1996: 45-57.
19. 禹润田, 方跃法, 郭盛. 绳驱动并联踝关节康复机构设计及运动性能分析. 机器人, 2015, 37(1): 53-62, 73.
20. 国家技术监督局. GB/T 10000-1998中国成年人人体尺寸. 北京: 中国标准出版社, 2004.
21. Dul J, Johnson G E. A kinematic model of the human ankle. J Biomed Eng, 1985, 7(2): 137-143.

Journal of Biomedical Engineering

Kinematics analysis and scale optimization of four degree of freedom generalized spherical parallel mechanism for ankle joint rehabilitation

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