Abstract
Ankle injuries are common in daily life, and the recovery process requires rehabilitation training. Manual rehabilitation training relies on doctors, which is inefficient, labor intensive, difficult to popularize and evaluate the rehabilitation effect objectively and accurately. Rehabilitation equipment overcomes above shortcomings and can achieve precise treatment, which has become an important part of the public health and health protection system. In this paper, a new cable-driven rehabilitation device is proposed for the ankle rehabilitation. The cable-driven technology reduces the weight and volume of the mechanical structure and mitigates the rigid impact with the cable flexibility. Besides, it improves the integration of sensing, driving and control. According to the movement requirements of human ankle joints, the configuration of the rehabilitation device was proposed. On this basis, a multi-parameter-oriented stepwise optimization method was established to minimize the maximum cable force, considering the constraints of volume and scale. The optimal dimension was deduced on the basis of the performance trend analysis. Finally, a virtual prototype of the rehabilitation mechanism was designed to form the new ankle joint rehabilitation equipment.
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This work was supported by the National Natural Science Foundation of China (grant number U19A20101).
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Huo, Y., Duan, J., Shao, Z., Liu, H., Liu, C. (2021). Design and Optimization of the New Cable-Driven Ankle Rehabilitation Equipment. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_57
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