A Portable Robotic System for Ankle Joint Rehabilitation

Nursultan Z. Marco C. Balbayev G.
October 2023 Multidisciplinary Digital Publishing Institute (MDPI)

Electronics (Switzerland)
2023 #12 Issue 20

The design of a new exoskeleton is presented based on four electric linear actuators for the flexion motion range of the ankle of a user. The exoskeleton system is designed to be easy to operate and fairly inexpensive so that it can be used as a tool for exercising and the rehabilitation of the ankle. A prototype of the ankle exoskeleton is presented with its electrical circuit and components, such as servomotors, microcontrollers, sensors, and power supplies. The prototype is distinguished by an innovative design, which uses linear electric actuators for angular-assisted motion, providing a controlled adaptive movement of the ankle joint in its basic movements, separately and combined. The key elements of the ankle exoskeleton prototype consist of a lower leg housing, front and rear servomotor mounts, and ball joints with the aim of mimicking and supporting the natural movements of the ankle for users with walking and mobility problems. The innovation of the proposed work can be recognized in the portable mechanical design with a proper mechatronic design with four actuators that control ankle motion in all its possibilities.

ankle joint , biomechanics , design , motion assistance , performance analysis , rehabilitation robots

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Department of Electronics and Robotics, Almaty University of Power Engineering and Telecommunications, Almaty, 050013, Kazakhstan
LARM2—Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, Rome, 00133, Italy
Institute of Automation and Telecommunication, Academy of Logistics and Transport, Almaty, 050012, Kazakhstan

Department of Electronics and Robotics
LARM2—Laboratory of Robot Mechatronics
Institute of Automation and Telecommunication

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