中文摘要：

按照机械与人体不同的相互作用关系对康复器械的机构进行分类,提出了生物融合式康复机构的概念并介绍了其特征.在分析踝关节及其现有康复器机构特征的基础上,应用生物融合式康复机构的概念设计了一种含有弹性元件的并联踝关节康复机构,该机构可以实现踝关节内翻/外翻、背屈/跖屈、外展/内收康复运动,还可以对踝关节进行牵引.分析了该机构的输出自由度、结构自由度和驱动合理性.计算了踝关节在康复运动过程中机械驱动和生物驱动的输入量,以及两组驱动给定后踝关节的姿态.以对踝关节进行背屈/跖屈康复训练为例,给出该机构机械分支受力和机械驱动随踝关节姿态变化的曲线.

英文摘要：

According to the different relationships between machine and human limb,the mechanisms in the rehabilitation devices are grouped into different categories,and a concept of bio-syncretic rehabilitation mechanism and its characters are presented.On the basis of the analysis on the mechanisms of ankle and some existing robots for its rehabilitation,a novel parallel mechanism with elastic elements for ankle rehabilitation is presented as an example of the application of the new concept.The mechanism not only meets the requirements of ankle rehabilitation motions such as eversion/inversion,dorsiflexion/plantarflexion,adduction/abduction,but also can supply traction to the ankle.The output degree of freedom,configuration degree of freedom and the rationality of selecting actuated joints of the mechanism are discussed.The inputs of the mechanical drives and biological drives during the motion of ankle rehabilitation are calculated,and the orientation of ankle is calculated when the two groups of drives are given.Taking the dorsiflexion/plantarflexion motion of the ankle rehabilitation as an example,the force on each mechanical limb is given,and the relationships between the input of each mechanical drive and the orientation of ankle are given.