Exoskeleton for the Ankle Joint Design and Control System

Abstract

The ankle joint is one of the most commonly broken joints in the human body. It is usually prone to sprains or fractures and requires exercise support to restore mobility. While physiotherapists typically conduct individual rehabilitation with diierent patients, numerous efficacious robotic rehabilitation solutions have been proposed in recent years. However, their conception is often heavy and forces the patient to sit or stand in a static position. In this article, a lightweight hand-held device to facilitate ankle movement is offered for ankle movement exercises in rehabilitation and training. The portable device is based on the extensive motion of the human ankle supplied in rehabilitation. The amplitude of motion of the ankle joint is investigated as a characteristic of a specific movement using a numerical model.