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Ankle Joint

Ankle Joint

The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...

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Related Experiment Video

Updated: Dec 2, 2025

Experimental Methods to Study Human Postural Control

Experimental Methods to Study Human Postural Control

Published on: September 11, 2019

Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework.

Fares J Abu-Dakka¹, Angel Valera², Juan A Escalera³

¹Intelligent Robotics Group, Department of Electrical Engineering and Automation (EEA), Aalto University, 02150 Espoo, Finland.

Sensors (Basel, Switzerland)

|November 4, 2020

Summary

This summary is machine-generated.

This study introduces a robotic system for ankle rehabilitation, using learning techniques and a parallel robot to guide patients through exercises. The system adapts to patient progress, gradually restoring ankle motion and range after injury.

Keywords:

dynamic movement primitives force control iterative learning control motion control parallel robots rehabilitation robots

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Evaluating Postural Control and Lower-extremity Muscle Activation in Individuals with Chronic Ankle Instability

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Published on: September 18, 2020

Area of Science:

Rehabilitation Engineering
Robotics
Biomechanics

Background:

Ankle injuries are common in sports and daily activities, necessitating effective rehabilitation.
Traditional ankle rehabilitation requires therapist guidance, limiting patient access and therapist capacity.
Passive exercises for dorsiflexion/plantar flexion and inversion/eversion are crucial for recovery.

Purpose of the Study:

To propose a framework integrating learning techniques with a 3-PRS parallel robot for ankle rehabilitation.
To enable efficient, safe, and therapist-assisted passive ankle rehabilitation exercises.
To develop a system that adapts to patient recovery by adjusting exercise range and intensity.

Main Methods:

A 3-PRS parallel robot integrated with learning techniques for ankle rehabilitation.
Learning from demonstration to intuitively design exercises with therapist input.
A control scheme using dynamic movement primitives and iterative learning control for exercise reproduction.
Adaptive trajectory modification based on sensed forces to reduce exercise range and gradually restore it.

Main Results:

The proposed framework was validated through real-world experiments and simulations.
The system successfully reproduced designed ankle rehabilitation exercises.
The adaptive control successfully reduced exercise range based on measured forces and gradually restored it.

Conclusions:

The integrated robotic and learning framework offers an efficient and safe method for ankle rehabilitation.
The system supports therapists by enabling more patients to receive assistance.
The adaptive capabilities allow for personalized rehabilitation, progressing as the patient recovers.