Abstract
Existing ankle rehabilitation robots are large, difficult to move, and mostly designed for seated use, which cannot meet the early bedridden rehabilitation goals of stroke patients. To address these issues, a supine ankle rehabilitation robot (S-ARR) specifically designed for early bedridden rehabilitation of stroke patients has been proposed. The S-ARR is designed to be easily movable and adaptable to different heights. It features a variable workspace with mechanical limiters at the rotating joints. A kinematic model has been constructed, and the kinematic simulation of the S-ARR has been analyzed. A control system scheme for the S-ARR has been proposed. Additionally, experiments have been conducted on the prototype to measure joint range of motion and perform rehabilitation exercises. The simulation and experimental results demonstrate that the S-ARR has a feasible workspace and a relatively smooth motion process, enabling it to achieve supine ankle rehabilitation training. This indicates that the design of the supine ankle rehabilitation robot is reasonable, capable of meeting the requirements for ankle joint rehabilitation training, and has practical utility.
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