基于3-RRR并联结构的智能踝关节康复机器人，支持多自由度运动训练。
From Structural Design to Dynamics Modeling: Control-Oriented Development of a 3-RRR Parallel Ankle Rehabilitation Robot
- 采用3-RRR球面并联机构，实现足部俯仰、翻转、偏航三自由度运动。
- 通过拉格朗日动力学建模，准确估算关节扭矩并验证轨迹跟踪稳定性。
- 适用于个性化康复训练，未来可拓展至步态相位同步辅助。
本文提出一种基于3-RRR球面并联机构（SPM）的可穿戴踝关节康复机器人，支持俯仰、翻转和偏航三自由度运动，以促进多自由度康复。系统具备紧凑、符合人体工学的结构设计，兼顾舒适性与安全性。构建了从结构设计到动力学建模的完整开发流程，包括运动学建模用于运动规划，以及基于拉格朗日方程的动力学建模用于力矩估计与仿真分析。初步仿真验证了在典型康复轨迹下关节协调稳定、运动跟踪平滑。控制框架正在开发中，旨在提升全工作空间响应性。后续将集成个性化建模与自适应策略，通过模型驱动控制解决运动奇异问题。本研究为智能化、个性化的踝关节康复提供了基础平台，支持静态训练，并可扩展至步态相位同步辅助。
原文摘要 · Abstract (English)
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic structure designed for comfort, safety, and compatibility with ankle biomechanics. A complete design-to-dynamics pipeline has been implemented, including structural design, kinematic modeling for motion planning, and Lagrangian-based dynamic modeling for torque estimation and simulation analysis. Preliminary simulations verify stable joint coordination and smooth motion tracking under representative rehabilitation trajectories. The control framework is currently being developed to enhance responsiveness across the workspace. Future work will focus on integrating personalized modeling and adaptive strategies to address kinematic singularities through model based control. This work establishes a foundational platform for intelligent, personalized ankle rehabilitation, enabling both static training and potential extension to gait-phase-timed assistance.
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