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介绍了一种基于刚柔混合驱动的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节的三维运动。为了分析该装置的康复效果,对其工作空间进行了研究。为此,首先给出了该装置的工作条件,对工作空间的约束进行了分析;然后,在此基础上建立了工作空间的数字化求解模型;最后,采用Matlab进行了踝关节辅助康复装置的工作空间计算。分析结果可以作为踝关节辅助康复装置优化结构、最终确定参数的依据。研究过程为多运动模式的机构的工作空间研究提供了参考。
A bionic ankle-assisted rehabilitation device based on rigid-flexible hybrid driving is introduced. The device has two degrees of freedom, but it can approximate the three-dimensional movement of ankle joint. In order to analyze the rehabilitation effect of the device, its working space was studied. To this end, the operating conditions of the device are given first, and the constraints of the workspace are analyzed. Then, a digital solution model of the workspace is established. Finally, the work of the ankle-assisted rehabilitation device is carried out by Matlab Space calculation The analysis results can be used as an ankle auxiliary rehabilitation device to optimize the structure, and ultimately determine the basis for the parameters. The research process provides a reference for the study of work space in multi-sport institutions.