Conceptual Mechatronic Design of Robotic System for Lower Limb Rehabilitation in Post-Stroke Patients using the VDI 2206 and VDI 2225 Standard

摘要

This study aims to design a robotic system for continuous passive motion therapy to support lower limb rehabilitation in post-stroke patients. The design process adheres to VDI 2206 and VDI 2225 standards. Key stages include defining requirements based on anthropometric and biomechanical data, function structuring, and using a morphological matrix to explore solutions. Weighted matrices evaluated ergonomics, control precision, and safety, leading to an optimal design for knee and ankle rehabilitation. The system provides controlled, passive movement, supports up to 80 kg, and allows adjustable speed and load resistance, ensuring smooth actuation and biomechanical alignment for effective motor recovery. A Von Mises analysis of the rail-structure connector, using 304 stainless steel under a 784 N vertical load (simulating patient weight), revealed a maximum stress of 29.58 MPa and deformation of 1.12×10<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">-4</sup>, remaining within the material's elastic limit.