| Innovative Design |
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| Study on effect of slider rocker mechanism on rehabilitation of triceps surae |
| WANG Hong-gang1, KANG Cun-feng1, CHEN Kang-wen1, JI Yuan-long1, PU Qiu-ran2, ZHANG Lei-yu2 |
1.Department of Materials and Manufacturing， Beijing University of Technology， Beijing 100124，China
2.Institute of Intelligent Mechatronics Equipment， Beijing University of Technology， Beijing 100124，China |
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Abstract Taking the rehabilitation training of triceps surae as the application background, the rehabilitation effect of slider rocker mechanism on triceps surae was studied. The vector equation of the slider rocker rehabilitation mechanism was deduced, its mathematical model was established, and the motion simulation of the slider rocker rehabilitation mechanism was carried out by MATLAB software. The results showed that the movement of the end effector could be indirectly controlled by controlling the displacement, velocity and acceleration of the slider of the mechanism, so as to form a rehabilitation mode that could meet the different needs of patients; in order to ensure the safety of slider rocker rehabilitation mechanism in use, the variation range of slider displacement should be 200-700 mm. The massage experiment of slider rocker rehabilitation mechanism on triceps surae was carried out. The results showed that after using the slider rocker rehabilitation mechanism, the surface electromyogram (EMG) of the triceps surae changed significantly. There was a significant difference in the EMG values of the triceps surae before and after use (p1=0.037<0.05), and there was a significant difference in the peak values of the EMG value during use (p2=0.018<0.05), indicating that the mechanism had a significant and effective rehabilitation stimulation to the triceps surae. The research results can provide a theoretical reference for the application of slider rocker mechanism in rehabilitation medicine.
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Received: 04 May 2020
Published: 28 December 2021
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滑块摇杆机构对小腿三头肌康复的作用研究
以小腿三头肌的康复训练为应用背景，研究了滑块摇杆机构对小腿三头肌的康复作用。推导了滑块摇杆康复机构的矢量方程，建立了其数学模型，并利用MATLAB软件进行了滑块摇杆康复机构的运动仿真。结果显示：通过控制机构滑块的位移、速度和加速度可以间接地控制末端执行器的运动，从而形成能满足患者不同需求的康复模式；为保证滑块摇杆康复机构在使用过程中的安全性，滑块位移的变化区间应为200~700 mm。开展了滑块摇杆康复机构对小腿三头肌的按摩实验。结果显示，使用滑块摇杆康复机构后，小腿三头肌的表面肌电信号明显改变，使用前后小腿三头肌的肌电值有显著性差异（ p1![]() ![]() =0.037<0.05![]() ![]() ），使用过程中肌电值的峰值有显著性差异（ p2![]() ![]() =0.018<0.05![]() ![]() ），说明该机构对小腿三头肌有显著、有效的康复性刺激。研究结果可为滑块摇杆机构在康复医疗中的应用提供理论参考。
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