Abstract
In order to develop multifunctional medical recovery and monitoring equipment for the human lower limb, a new original mechanical structure with three degrees mobility has been created for the leg sagittal model. This mechanism is integrated in the equipment and includes elements that have similar functions to the different anatomic parts (femur, median part), leg, and foot. The independent relative rotation motion between the previously mentioned anatomic parts is ensured. The femur may have an oscillation rotation of about 100° relative to the trunk. The median part (leg) alternatively rotates 150° relative to the superior segment. The lower part (foot) is initially placed at 90° relative to the median part and may have an alternative rotation of 25°. Depending on a patient’s medical needs and their recovery progress, device sensors provide varying angular amplitude of different segments of the human limb. Moreover, the mechanism may actuate either anatomic leg segment, two parts, or all of them.
Highlights
The lower human limb (Figure 1) allows motions relative to its main parts
Some of its three links receive the roles of the main parts of the human leg main parts, i.e., the thigh, leg, and foot regions
According to the mechanism construction fundamental principle, each planar system is a connection of active modular groups (AMG)
Summary
A mechanism with three degrees of mobility has been used to created dedicated medical equipment for the multifunctional rehabilitation and monitoring of the lower limb [1,2]. Some equipment is used to recover lower limb joint function. This type of medical device is dedicated to active limb rehabilitation—its ankle joint for flexion, extension, pronation, and supination movements [3]. The mechanism (Figure 2) has m = 9 mobile elements and i= 12 kinematic lower pairs. Mechanism with three degrees of mobility: (a) Direct structural model of the mechanism; group (b)modular modular groupconnection. According to the mechanism construction fundamental principle, each planar system is a connection of active modular groups (AMG).
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