Mechanism Design and Analysis of a Multi-DOF Flexible Ankle Rehabilitation Robot

摘要

Abstract According to the needs of global social development, this paper briefly describes the design and modelling of an ankle rehabilitation robot. A multi degree-of-freedom (DOF) ankle rehabilitation robot mechanism is constructed by using flexible pneumatic muscle actuators. The relevant mainstream control methods are analyzed. On this basis, we integrate the ankle rehabilitation robot with virtual reality technology and functional electrical stimulation technology, to further improve the participation of patients and improve the efficiency of ankle rehabilitation.