Motion simulation of Bionic Auxiliary Device for Ankle Rehabilitation based on small driving moment function

Abstract

A kind of auxiliary device for ankle rehabilitation based on a ball pin vice is introduced in this paper first. The device has two degrees of freedom, while three-dimensional movement of the ankle can be achieved approximately. The modeling and simulation process of the ankle joint rehabilitation device are described in this paper. Motion simulation is preceded by using ADAMS for researching its dynamics and kinematics performance when the upper platform adopts small driving moment function to control the movement. The results are compared with the results of motion simulation driven by modified constant velocity function. The results show that the maximum driving torque of the motor driven by the small driving moment function is less than the maximum driving torque of the motor driven by the modified constant velocity function, which has a certain effect on saving energy consumption of the motor.