Abstract:
ссAs one of the most injured joints of the human
body, the ankle is often prone to sprains or fractures that
require help in movement to restore mobility. While
physical therapists typically perform rehabilitation in oneon-one sessions with patients, several successful robotic
rehabilitation solutions have been proposed in recent years.
However, their design is usually bulky and requires the
patient to sit or stand in a static position. This paper
presents devotes to a new design of a device as an
exoskeleton for the ankle joint that promotes movement of a
person with disability. The proposed design is characterized
by a lightweight and inexpensive design for various users
with easy-to-wear functions and simple operation. The
exoskeleton is supported by four linear electric actuators to
enable ankle movements in three directions. A CAD model
is developed for proposed design parts and simulations, the
results of which provide data on the feasibility of the design
and its main performance characteristics. 3D modeling and
simulation calculations were performed in a virtual
environment using Solidworks Simulation software and
motion simulation. Solidworks Simulation provides an
electric linear actuator that generates ankle movement. The
proposed design of the mechanism using kinematic and
static models is analyzed, a scheme of the control structure
is developed.
