CAJ | 학술논문

对踝关节功能损伤的患者，尤其是中风患者来讲，踝关节的康复是一项非常困难的问题。针对此提出一种新型并联式解耦踝关节康复机构，并基于中医康复疗法引入踝关节康复机构需要注重牵引功能的设计思路。所提出的机构能够同时实现单独转动康复(背屈、跖屈，外展、内收)和在牵引下转动的康复过程；利用螺旋理论分析机构在任意位姿下的自由度性质；推导出机构位置正反解，求解速度雅可比矩阵，并对机构进行奇异性分析；通过输出参数对解耦机构杆件尺寸进行优化，基于遗传算法给出数值算例，验证了机构工作空间满足踝关节康复运动的要求。
대과관절공능손상적환자，우기시중풍환자래강，과관절적강복시일항비상곤난적문제。침대차제출일충신형병련식해우과관절강복궤구，병기우중의강복요법인입과관절강복궤구수요주중견인공능적설계사로。소제출적궤구능구동시실현단독전동강복(배굴、척굴，외전、내수)화재견인하전동적강복과정；이용라선이론분석궤구재임의위자하적자유도성질；추도출궤구위치정반해，구해속도아가비구진，병대궤구진행기이성분석；통과수출삼수대해우궤구간건척촌진행우화，기우유전산법급출수치산례，험증료궤구공작공간만족과관절강복운동적요구。
For the patients who are suffering the ankle injuries especially for the hemiplegic after stroke, the ankle rehabilitation is one of the very difficult problems. A novel decoupled parallel mechanism used for ankle rehabilitation is presented alming at this background. Based on the tractive therapy of traditional Chinese medicine, the design idea that more attention should be pald on the traction function for ankle rehabilitative mechanism is introduced. Independent rotational rehabilitation, including dorsiflexion, plantarflexion, abduction and adduction, and rotational rehabilitation under the traction can be realized by the proposed mechanism simultaneously. By using the screw theory, the character of the degrees of freedom of the mechanism at arbitrary pose is analyzed. The forward and inverse position solutions of the mechanism are derived out, the velocity Jacobian matrix is solved, and the singularity analysis is performed. The optimization for the size of the decoupled mechanism is performed through the output parameters, and the numerical example is given based genetic algorithm, which verifies the workspace of the mechanism satisfying the requirements of the ankle rehabilitation movement.