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Author(s):: YU Xiaojie; ZHANG Yuling; XU Pengfei; ZHAO Zhan; ZOU Renling; School of Medical Instrument and Food Engineering,University of Shanghai for Sicence and Technology,Shanghai 200093,China

Keywords:: Ankle joint; Rehabilitation training; Rope control; Plantar flexion and dorsiflexion; Varus and valgus

摘要:: 踝关节是全身负重最多的关节，也是骨折最易发生的部位。本研究针对踝关节损伤后家庭康复的需求，设计一款可拆卸、易操控的踝关节康复训练器。以踝关节的人体解剖学和运动学为基础，根据大量的文献及实际调研确定训练器的设计思路及方案。根据人因工程学对训练器设计方案进行修改优化。采用电机控制绳索牵引，完成被动训练；采用弹性绳索牵拉，完成主动抗阻训练。训练器由被动训练和抗组训练两个模式组成。采用绳控柔性控制，能够实现踝关节跖屈背屈和内翻外翻两个自由度的康复训练，且可以依据患者踝关节活动度的不同进行不同角度牵拉，实现不同范围内的踝关节训练，兼具个性化和普适性，可显著提高患者踝关节训练效果。

Abstract:: The ankle joint, which plays an important role in human’s daily life, is not only the largest-load joint of human body but also has the highest fracture rate. To design an ankle rehabilitation training device aiming at the needs of home-based rehabilitation after ankle injury, which is removable and easy to operate.Based on the human anatomy and kinematics of the ankle，the ankle rehabilitation training device was desighed after consulting a large number of literature and actual investigation. The apparatus was optimized according to human factors engineering. Passive training used the motor-controlled ropes; active-resistive exercises used elastic rope to pull.Ankle rehabilitation was composed of two parts:passive and active training. The rope control of flexible control, the ankle rehabilitation could achieve the ankle plantar flexion, dorsiflexion, varus and valgus. According to the different ankle range of motion (ROM), the rope could pull from different angles, training ankle in the different range. The ankle rehabilitation apparatus is personalized and general applicability, which increases significantly in ankle rehabilitation training.