Abstract
In this article a calf-plantar sequential pneumatic compression innovative device, consisting of three sensorized and PLC-controlled chambers, is designed and implemented. It performs a massage on the calf surface and on the foot sole at a given controlled pressure level and frequency and, in addition, carries out the ankle passive movement. Preliminary tests were performed on patients, using a commercial apparatus normally devoted to lymphatic drainage massage. In testing the mechatronic apparatus under real working conditions three air pressure transducers are used to feedback control the actuation system and the pressure trends in the actuator chambers during massage are here reported.
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