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Design and Analysis of an Unwearable Robot for Ankle Rehabilitation

Setareh Kokab, Hamid Reza | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44228 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. Some of the most usual problems in rehabilitation are ankle joint disabilities which are caused by stroke or damages like ankle twist and disrupt the movement activities. So rehabilitation of this joint which has important role in daily activities like walking is of high importance.
    The aim of this research is design of an unwearable robot for rehabilitation of ankle. After the study of several different mechanisms, this robot was designed based on a 2 DOF mechanism named “Agile Eye”. Based on the mechanism and parametrical analysis, final design of this robot was drafted using optimization method. Next, the musculoskeletal model of lower limb was created in MATLAB and by using this model, the motion of complex of foot and robot was simulated and the results were analyzed.The designed robot covers all the workspace of the ankle joint (about 30 degree in dorsiflexion, about 45 degree in plantar flexion, about 22 degree in inversion, about 17 degree in eversion) and in this workspace, it is far from singular configuration. The musculoskeletal model anticipates the trend of change of torque in ankle from 5N.m to -20N.m correctly. Simulation of foot movement and robot is done for a healthy foot and the results are presented
  9. Keywords:
  10. Robotics ; Parallel Mechanism ; Optimization ; Musculoskeletal System ; Ankle Rehabilitation

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