Development and Kinematics Optimization of a Human-Compatible Rope-Driven Ankle Rehabilitation Robot Based on...

Area of Science:

• Biomechanics
• Robotics
• Rehabilitation Engineering

Background:

• Current ankle rehabilitation robots often lack compatibility with natural human motion, limiting rehabilitation effectiveness.
• A significant mismatch exists between existing robotic systems and the complex, natural movements of the human ankle joint.

Purpose of the Study:

• To design a human-machine motion compatible rope-driven ankle rehabilitation robot.
• To address the efficacy limitations of current rehabilitation robots by aligning them with natural human ankle biomechanics.

Main Methods:

• Utilized screw theory and motion capture (VICON, IMU) to determine the instantaneous finite helical motion axis (IFHA) and twist pitch (TP) distribution of the human ankle.
• Mapped experimental ankle motion characteristics to design constraints for a novel parallel rope-driven rehabilitation mechanism.
• Established a kinematic model, analyzed performance and singularities using motion/force transmission index, and optimized rope layout and mechanism parameters.

Main Results:

• Determined the distribution law of the IFHA and the range of TP for the human ankle joint.
• Developed a novel parallel rope-driven ankle rehabilitation robot with optimized design parameters.
• Validated human-machine motion compatibility, safety, comfort, and effectiveness through an experimental platform.

Conclusions:

• The developed rope-driven ankle rehabilitation robot demonstrates superior human-machine motion compatibility compared to existing systems.
• The findings provide a foundation for designing more effective and naturalistic robotic rehabilitation devices for ankle injuries.
• The study successfully integrated biomechanical principles with robotic design to enhance rehabilitation outcomes.