Abstract
This article discusses a device for active-passive mechanotherapy of the ankle joint. The device is based on a controllable mobile platform equipped with force-moment sensors, on which the patient’s foot is mounted by means of cuffs, and the platform rotation angles are controlled by linear motion sensors. The platform of the device is designed in such a way that the rotation axis of the platform always coincides with the centre of the ankle joint. For this purpose, a parallel kinematics mechanism is used, which is based on three linear electric drives. The control system of the device provides both active and passive movement of the platform. For realization of the control algorithm of the mobile platform movement, a mathematical model is developed, which allows establishing connections between angular motions of the mobile platform and linear drives of the parallel mechanism. Models of reaction forces of the platform support on the patient’s foot during operation of the device are also described. A functional control diagram of the device is presented, and the modes of operation of the device are described.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Pechurin, A., Fedorov, A., Jatsun, A., Jatsun, S.: Mathematical modelling of human walking in a rehabilitation exoskeleton using video gait analysis method. In: Proceedings of Southwestern State University, vol. 25, no. 3, pp. 27–40 (2022)
Karlov, A., Postolny, A., Fedorov, A., Jatsun, S.: Modeling an exoskeleton with a hybrid linear gravity compensator. In: Proceedings of Southwestern State University, vol. 24, no. 3, pp. 66–78 (2020)
Dmitriev, V., Fedorov, A.: Analysis of industrial exoskeleton qualitative performance based on a set of criteria. Issues in the methodology of natural and technical sciences: contemporary context, pp. 131–135 (2019)
Antipov, V., Karlov, A., Fedorov, A.: Energy distribution in the human-exoskeleton system. Issues in the methodology of natural science and engineering: contemporary context, pp. 109–112 (2019)
Pechurin, A.S., Jatsun, S.F., Fedorov, A.V., Jatsun, A.S.: Studying the two-legged walking system with video capture methods. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds.) CLAWAR 2021. LNNS, vol. 324, pp. 3–12. Springer, Cham (2022). https://doi.org/10.1007/978-3-030-86294-7_1
Jatsun, S., Yatsun, A., Fedorov, A., Saveleva, E.: Simulation of static walking in an exoskeleton. In: Ronzhin, A., Shishlakov, V. (eds.) Electromechanics and Robotics. SIST, vol. 232, pp. 49–60. Springer, Singapore (2022). https://doi.org/10.1007/978-981-16-2814-6_5
Knyazev, A., Jatsun, A., Fedorov, A.: Mathematical modeling of the biomechanical rehabilitation system of foot exoskeleton in frontal and sagittal planes. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol. 329, pp. 19–32. Springer, Cham (2023). https://doi.org/10.1007/978-981-19-7685-8_2
Knyazev, A., Yatsun, S., Fedorov, A.: Control of a Device for mechanotherapy of the ankle joint. Biomed. Eng. 56, 392–396 (2023)
Knyazev, A., Jatsun, S., Fedorov, A.: Algorithm of personalized adjustment of the active-passive mechanotherapy device for the ankle joint. In: International Conference on Industrial Engineering, Applications and Manufacturing, pp. 661–666 (2023)
Hassan, M., Khajepour, A.: Optimization of actuator forces in cable-based parallel manipulators using convex analysis. IEEE Trans. Rob. 24, 736–740 (2008)
Alvarez-Perez, G., Garcia-Murillo, A., Jesús Cervantes-Sánchez, J.: Robot-assisted ankle rehabilitation: a review, disability and rehabilitation. Assist Technol. 15(4), 3e94-408 (2020)
Antonellis, P., Galle, S., Clercq, D., Malcolm, P.: Altering gait variability with an ankle exoskeleton. PLoS One 13(10), 0205088 (2018)
Jamwal, P., Hussain, S., Xie, S.: Restage design analysis and multicriteria optimization of a parallel ankle rehabilitation robot using genetic algorithm. IEEE Trans. Autom. Sci. Eng. 12(4), 1433–1446 (2014)
Tsoi, H., Xie, Q.: Design and control of a parallel robot for ankle rehabiltation. In: 15th international conference on mechatronics and machine vision in practice, pp. 515–520 (2008)
Vallés, M., Cazalilla, J., Valera, Á.: A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica 35, 1939–1957 (2017)
Zeng, X., Zhu, G., Zhang, M.: Reviewing clinical effectiveness of active training strategies of platform-based ankle rehabilitation robots. Healthcare Eng. 2018, 1–12 (2018)
Zhang, M., McDaid, A., Veale, A.: Adaptive robot with trajectory tracking control of a parallel ankle rehabilitation joint-space force distribution. IEEE Access 7, 812–820 (2019)
Shevko, D.: Adaptive management in the conditions of undefinition. Sci. Rev. Tech. Sci. 2, 75–77 (2017)
Yatsun, A., Karlov, A., Malchikov, A., Jatsun, S.: Investigation of the dynamical characteristics of the lower-limbs exoskeleton actuators. In: MATEC Web of Conferences. EDP Sciences, vol. 161, pp. 3–8 (2018)
Acknowledgment
The work was supported by grant of Russian Science Foundation № 22–21-00464 – “Development of models and control algorithms for biotechnical walking systems”.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Knyazev, A., Jatsun, S., Fedorov, A., Safarov, J. (2023). Development of a Device for Post-traumatic Ankle Rehabilitation. In: Ronzhin, A., Sadigov, A., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2023. Lecture Notes in Computer Science(), vol 14214. Springer, Cham. https://doi.org/10.1007/978-3-031-43111-1_9
Download citation
DOI: https://doi.org/10.1007/978-3-031-43111-1_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-43110-4
Online ISBN: 978-3-031-43111-1
eBook Packages: Computer ScienceComputer Science (R0)