Robot-assisted ankle rehabilitation: a review

Area of Science:

• Rehabilitation Engineering
• Medical Robotics
• Biomechanics

Background:

• Robotic devices represent a consolidated paradigm in ankle rehabilitation.
• Existing robotic systems offer specialized movements and mechanical properties beneficial for ankle rehabilitation.
• Limited commercialization and integration of these technologies highlight existing challenges.

Purpose of the Study:

• To review recent developments and research in robotics for ankle rehabilitation.
• To identify new findings and establish the current state-of-the-art in robotic ankle rehabilitation.
• To analyze the design, capabilities, and commercialization status of rehabilitation robots.

Main Methods:

• A comprehensive literature search was conducted across major scientific and medical databases (Scopus, PubMed, Web of Science).
• Studies from the 1950s to the present were analyzed.
• Information on mechanical specifications, kinematics, actuation, and development stage was extracted.

Main Results:

• Several types of rehabilitation robots were classified based on architecture and design.
• Most designs facilitate plantarflexion-dorsiflexion, but few wearable robots support adduction-abduction.
• Commercialization is limited, with user perception and physical appearance often overlooked in design.

Conclusions:

• Key challenges include the lack of standardized rehabilitation protocols and resources for evaluating non-commercialized devices.
• Robot architecture needs improvement for natural ankle joint emulation and adaptability to patient-specific needs and pathologies.
• Many designs are not conceived for commercialization or personal use, hindering wider adoption.