Design of Intelligent Wheelchair for Ankle Joint Rehabilitation Training
CHU Tianyue1, WANG Jingyan2, PAN Liming1, CHEN Jinshi2, MA Dongmei1, HUANG Lei1, YIN Baoyue1, XU Xin1
1. Hand and Foot Surgery Nursing Platform, The First Hospital of Jilin University, Changchun Jilin 130021, China;
2. School of Mechanical and Aerospace Engineering, Jilin University, Changchun Jilin 130025, China
Abstract：Objective In view of the current situation of poor adaptability and training effect of lower limb rehabilitation training
equipment, to design an intelligent assisted wheelchair for ankle joint rehabilitation of surgical patients, cerebral thrombus
patients and people with lower limb disabilities. Methods Through the analysis of the human ankle joint structure and movement
characteristics, the overall structure of the ankle joint rehabilitation mechanism was designed, and the control circuit was designed
with STM32F103 single chip microcomputer. The three-dimensional model was established based on CATIA software, and the
dynamic analysis was carried out on the platform combined with Adams simulation software. The static analysis of the core parts of
the assisted wheelchair was carried out with ANSYS software to verify the feasibility of the structural design. The physical prototype
was selected, assembled and built, and the functions and actual performance of the physical prototype was tested. Results Through
simulation analysis, the ankle joint rehabilitation mechanism met the design standard. The actual longitudinal rotation angle of the
ankle was -24.6°-13.5°, the transverse rotation angle was -19.6°-19.5°, the rotation speed of the ankle was 5.8-6.7 °/s, the rotation
speed of the ankle was about 7.6 °/s, and torque of the ankle joint folding movement was about 20 N·m. The torque required for the
abduction movement was approximately 17.2 N·m. Conclusion The intelligent assisted wheelchair for ankle joint rehabilitation
can meet the walking, lifting, intelligent assistance and other functions. Through simulation analysis and experimental tests, all the
functions of the wheelchair can be realized, and the parameters meet the design standards, which verifies the safety and rationality of
the design of the multi-functional ankle rehabilitation wheelchair.
