طراحي و تحليل يك ربات پوشيدني مبتني بر سازوكار كابلي براي توان بخشي مفصل مچ پا

Design And Analysis Of A Wearable Rehabilitation Robot For Ankle Joints

سكته‌ي مغزي علاوه بر خطر مرگ مي‌‍‌تواند به بروز عوارضي ناتوان كننده‌ نظير اختلالات تعادلي، فلج اندام، اختلالات گفتاري و ذهني منجر شود. اين پژوهش به‌منظور طراحي يك ربات توان بخشي پوشيدني براي مفصل مچ پا انجام شده است. بدين منظور ابتدا ملاحظات طراحي بررسي، و سه درجه آزادي حركتي اصلي مورد نياز شناسايي شد. سپس يك سازوكار كابلي معرفي شد كه قادر است با استفاده از موتورهاي الكتريكي و فنرهاي فشاري، در كنار مجموعه‌يي از پولي‌هاي واسط، حركات مورد نظر را با كم‌ترين وزن و حجم تامين كند. پس از طراحي اجزاي ربات، عملكرد آن در محيط سيمولينك شبيه‌سازي و تحليل شد. نتايج حاصله نشان داد كه ربات از كارايي و ايمني مناسب براي به‌كارگيري در مود‌هاي توانبخشي مختلف، نظير فعال، غيرفعال و ... برخوردار است.

Stroke is the third leading cause of death worldwide, after cancer and cardiac diseases. Not only it can lead to death, but its secondary complications, such as paralysis, dysarthria, and cognitive disorders, are critical for the quality of life. It has been reported that more than 30 percent of stroke patients have trouble in walking, even 6 months after recovery. In order to restore the physical functionality of such patients, and in particular their capability for performing the activities of daily living, very tough rehabilitation procedures are often required. Rehabilitation robots can facilitate these procedures for both the patient and the physiotherapist. The purpose of this research was to design a robot to facilitate the rehabilitation procedure of the ankle joint, in order to improve the efficacy of treatment, to lessen the time duration of the physiotherapy and to reduce the exhaustion level of the physiotherapist. In the design of the robot, two important ankle joint movements were considered; plantarflexion-dorsiflexion and eversion-inversion; also, the movement of the MTP joint was incorporated. Different mechanisms for performing these movements were analyzed and compared and, finally, the best was chosen as a cable driven mechanisms via electrical motors. Two active and passive functional modes, which have been suggested previously for rehabilitation robots, were defined as the working modes of the robot. After performing the detailed design of the robot, its forward and inverse kinematics were analyzed. These analyses were required for different working modes of the robot, such as performing exercises or evaluating a patient. Simulation of the robot was conducted in MATLAB software, to predict how the desired motions would be performed in reality. In this simulation, both of lower limbs, with their muscles and joints, were included in the model. The results helped to predict the real working behavior of the robot. It was concluded that the robot has an acceptable level of efficacy and safety for being uses in different rehabilitation modes, e.g., active, and passive.