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一种脚踝外骨骼的研发：设计、建模与测试

Development of an Ankle Exoskeleton: Design, Modeling, and Testing.

作者信息

Sergazin Gani, Ozhiken Assylbek, Zhetenbayev Nursultan, Ozhikenov Kassymbek, Tursunbayeva Gulzhamal, Nurgizat Yerkebulan, Uzbekbayev Arman, Ayazbay Abu-Alim

机构信息

Department Global Education and Training (GET), University of Illinois at Urbana-Champaign, Champaign, IL 61820, USA.

Institute of Mechanics and Engineering named after Academician U.A. Dzholdasbekova, Almaty 050013, Kazakhstan.

出版信息

Sensors (Basel). 2025 Mar 24;25(7):2020. doi: 10.3390/s25072020.

DOI:10.3390/s25072020
PMID:40218533
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11991355/
Abstract

This research presents the results of conceptual design and modeling of an exoskeleton. It is intended for ankle joint rehabilitation in patients with musculoskeletal disorders. The exoskeleton design includes three screw actuators that smoothly control motion in the planes of dorsal and plantar flexion, inversion, and eversion. The results of the virtual tests performed on the exoskeleton device demonstrated a high degree of adaptability to varying loads and different phases of motion. Controlled torque fluctuations and linear motion provide the necessary support during different phases of rehabilitation, which has a positive impact on the patient's recovery rate. The advantages of the design include material availability, ease of use, and flexibility in customization, making it an attractive option for use in both clinical and home settings. The study emphasizes the importance of developing affordable and accurate rehabilitation devices that can adapt to individual patient needs.

摘要

本研究展示了一种外骨骼的概念设计和建模结果。它旨在用于肌肉骨骼疾病患者的踝关节康复。外骨骼设计包括三个螺旋驱动器，可在背屈和跖屈、内翻和外翻平面上平稳地控制运动。在外骨骼设备上进行的虚拟测试结果表明，该设备对不同负荷和不同运动阶段具有高度适应性。受控的扭矩波动和直线运动在康复的不同阶段提供了必要的支撑，这对患者的康复速度有积极影响。该设计的优点包括材料可用性、易用性和定制灵活性，使其成为临床和家庭环境中使用的有吸引力的选择。该研究强调了开发能够适应个体患者需求的经济实惠且精确的康复设备的重要性。

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