【摘要】 目的 设计一种2-PSU/RR并联踝关节康复机器人，并对人体肌肉进行生物力学特性分析，研究踝关节康复机器人的康复策略。方法 采用数值离散搜索法获得机器人的实际工作空间，探究结构参数变化对机器人动平台高度的影响。通过人体生物力学仿真软件AnyBody得到肌肉力、肌肉活动度等人体生物力学响应，研究动平台高度变化对肌肉行为的影响。结果 机器人能够满足踝关节跖屈/背屈和内翻/外翻运动需求。适当增大定长杆的初始倾角和减小长度，使得踝关节康复机器人具有较低的整体高度。动平台高度依次递减10 mm,人体参与运动的肌肉力和肌肉活动度都有一定幅度下降。结论 本研究为踝关节康复提供一种新的设计方案，为踝康复机器人运动分析提供理论指导，并通过修改机构参数加快患者脚踝康复。更多还原

【Abstract】 Objective A 2-PSU/RR parallel ankle rehabilitation robot was designed, and the biomechanical properties of human muscles were also analyzed, so as to study rehabilitation strategy of the ankle rehabilitation robot. Methods The actual workspace of the robot was obtained by numerical discrete search method, and the effect of structural parameter changes on the height of robot moving platform was explored. Then the human biomechanical responses such as muscle force and muscle mobility were obtained by human biomechanical simulation software AnyBody, so as to investigate the effect of moving platform height changes on muscle behavior. Results The robot could meet the demand of ankle plantarflexion/dorsiflexion and inversion/eversion motion. Appropriately increasing the initial inclination angle and decreasing the length of the fixed-length bar enabled the ankle rehabilitation robot to have a lower overall height. The height of the moving platform was decreased by 10 mm in turn, and the muscle force and muscle activity of the human body involved in the movement were decreased to a certain extent. Conclusions This study provides a new design solution for ankle rehabilitation, offers theoretical guidance for motion analysis of the ankle rehabilitation robot, and accelerates rehabilitation of the patients’ ankles by modifying the mechanism parameters.更多还原