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Design framework for a simple robotic ankle evaluation and rehabilitation device
Christos E Syrseloudis1, Ioannis Z Emiris, Constantinos N Maganaris
1Department of Informatics and Telecommunications, National University of Athens, Greece. c.sirsel@di.uoa.gr
Summary
Researchers developed a robotic mechanism for ankle function evaluation and physiotherapy. A biomechanical foot model and experiments with healthy subjects informed the design of a parallel robot for accurate motion and force measurement.
Area of Science:
- Biomechanics and Robotics
- Medical Device Design
Background:
- Ankle function evaluation, measurement, and physiotherapy require specialized robotic mechanisms.
- Existing robotic systems may lack generality or simplicity for comprehensive ankle assessment.
Purpose of the Study:
- To propose and validate a robotic mechanism for ankle function evaluation, measurement, and physiotherapy.
- To adopt and refine a biomechanical foot model for robotic mechanism design.
Main Methods:
- Utilizing a 2R serial robot kinematics model of the foot.
- Conducting experiments with healthy subjects using 3D scanners and inertial sensors.
- Computing workspace requirements and comparing serial and parallel robot mechanisms.
Main Results:
- Experimental analysis confirmed and enhanced the 2R foot model.
- A parallel tripod robot with an additional rotation axis was selected for its simplicity and accuracy.
- The chosen mechanism meets multi-axis motion and force/torque requirements.
Conclusions:
- A parallel tripod robotic mechanism is suitable for ankle function evaluation, measurement, and physiotherapy.
- The 2R foot kinematics model provides a valid basis for robotic system design.
- The developed mechanism offers a simple, accurate, and general solution for ankle rehabilitation and assessment.
