MECHATRONIC DEVICE BASED ON A PARALLEL RECONFIGURABLE MECHANISM FOR ANKLE REHABILITATION
DOI:
https://doi.org/10.5377/nexo.v39i01.23162Keywords:
Mechatronics, Ankle rehabilitation, Parallel reconfigurable robotAbstract
This work presents the design, construction, and integration of a mechatronic device for ankle rehabilitation. The design is based on a parallel reconfigurable mechanism to be able to execute the three ankle movements with only two actuators. The design and integration of a graphical user interface which allows the device operation is shown too. The rehabilitation robot can execute flexion/extension and adduction/abduction movements in the first operation mode, and eversion/inversion and adduction/abduction movements in the second one. The obtained range of movement are: 46° for flexion, 30° for extension, 36° for both adduction and abduction, 22° for eversion and 17° for inversion. Experimental tests were carried out to verify the mechanism mobility and to demonstrate its viability to be used in therapies of patients who require passive ankle rehabilitation.
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