A Portable Robotic System for Ankle Joint Rehabilitation
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 ankl...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-10-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/12/20/4271 |
| _version_ | 1797574023840792576 |
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| author | Zhetenbayev Nursultan Ceccarelli Marco Gani Balbayev |
| author_facet | Zhetenbayev Nursultan Ceccarelli Marco Gani Balbayev |
| author_sort | Zhetenbayev Nursultan |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T21:17:17Z |
| format | Article |
| id | doaj.art-229ba97ffdf747098cb61c483fb0425f |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T21:17:17Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-229ba97ffdf747098cb61c483fb0425f2023-11-19T16:19:17ZengMDPI AGElectronics2079-92922023-10-011220427110.3390/electronics12204271A Portable Robotic System for Ankle Joint RehabilitationZhetenbayev Nursultan0Ceccarelli Marco1Gani Balbayev2Department of Electronics and Robotics, Almaty University of Power Engineering and Telecommunications, Almaty 050013, KazakhstanLARM2—Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, 00133 Rome, ItalyInstitute of Automation and Telecommunication, Academy of Logistics and Transport, Almaty 050012, KazakhstanThe 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.https://www.mdpi.com/2079-9292/12/20/4271motion assistancerehabilitation robotsdesignbiomechanicsankle jointperformance analysis |
| spellingShingle | Zhetenbayev Nursultan Ceccarelli Marco Gani Balbayev A Portable Robotic System for Ankle Joint Rehabilitation Electronics motion assistance rehabilitation robots design biomechanics ankle joint performance analysis |
| title | A Portable Robotic System for Ankle Joint Rehabilitation |
| title_full | A Portable Robotic System for Ankle Joint Rehabilitation |
| title_fullStr | A Portable Robotic System for Ankle Joint Rehabilitation |
| title_full_unstemmed | A Portable Robotic System for Ankle Joint Rehabilitation |
| title_short | A Portable Robotic System for Ankle Joint Rehabilitation |
| title_sort | portable robotic system for ankle joint rehabilitation |
| topic | motion assistance rehabilitation robots design biomechanics ankle joint performance analysis |
| url | https://www.mdpi.com/2079-9292/12/20/4271 |
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