Ankle rehabilitation device with two degrees of freedom and compliant joint

Modern Technologies in Industrial Engineering 2015

Racu Cazacu, C.-M.^1 ; Racu Cazacu, C.-M.^1 ; Doroftei, I.^1

Gheorghe Asachi Technical University of Iasi, Mechanical Engineering, Mechatronics and Robotics Department, Blvd. D. Mangeron, No. 43, Iasi

700050, Romania^1

关键词: Ankle joints;    Compliant joints;    Lower leg;    Maximum torque;    Mechanical transmission;    Rehabilitation devices;    Stress simulations;    Two degrees of freedom;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/95/1/012054/pdf
DOI  :  10.1088/1757-899X/95/1/012054

来源: IOP

【 摘 要 】

We propose a rehabilitation device that we intend to be low cost and easy to manufacture. The system will ensure functionality but also have a small dimensions and low mass, considering the physiological dimensions of the foot and lower leg. To avoid injure of the ankle joint, this device is equipped with a compliant joint between the motor and mechanical transmission. The torque of this joint is intended to be adjustable, according to the degree of ankle joint damage. To choose the material and the dimensions of this compliant joint, in this paper we perform the first stress simulation. The minimum torque is calculated, while the maximum torque is given by the preliminary chosen actuator..