Design of a tandem ankle rehabilitation robot
DOI:
https://doi.org/10.63313/AJET.9006Keywords:
Ankle rehabilitation, Series structure, Simulation analysis, Prototype experiment, Evaluation of rehabilitation efficacyAbstract
Impaired ankle function resulting from various diseases and sports-related inju-ries is a prevalent clinical concern, significantly affecting patients’ mobility and quality of life. In response to the growing demand for effective rehabilita-tion solutions, this paper presents a novel serial-structured ankle rehabilitation robot (ARR) based on emerging robotic technologies and existing rehabilitation products. Taking into account the anatomical movement patterns and physio-logical range of motion of the ankle joint (AJ), a three-dimensional mechanical model was carefully designed to closely mimic natural joint kinematics. A func-tional prototype was developed, and experimental tests were conducted to evaluate key performance metrics, including speed response and positioning accuracy. The results demonstrated that the robot exhibits stable and responsive motion control with high precision. Furthermore, the Anybody simulation soft-ware was employed to assess the activation levels of major muscles involved in ankle movement during robotic-assisted training. The data revealed significant engagement of the targeted musculature, indicating effective muscle stimula-tion. Overall, the proposed ARR shows great potential to fulfill the essential re-quirements of ankle joint rehabilitation training.
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