DEVELOPING OF A DEVICE FOR POST-TRAUMATIC ANKLE REHABILITATION

Andrey Knyazev; Sergey Jatsun; Andrey Fedorov; Jamil Safarov

Andrey Knyazev Southwest state university https://orcid.org/0000-0003-1850-7857
Sergey Jatsun Southwest state university https://orcid.org/0000-0002-7420-0772
Andrey Fedorov Southwest state university
Jamil Safarov Azerbaijan Technical University

Keywords: ankle mechanotherapy, force control sensors, mathematical model, parallel kinematics mechanism, functional diagram.

Abstract

This article discusses a device for active-passive mechanotherapy of the ankle joint. The device is based on a controllable mobile platform equipped with force-moment sensors, on which the patient's foot is mounted by means of cuffs, and the platform rotation angles are controlled by linear motion sensors. The platform of the device is designed in such a way that the rotation axis of the platform always coincides with the centre of the ankle joint. For this purpose, a parallel kinematics mechanism is used, which is based on three linear electric drives. The control system of the device provides both active and passive movement of the platform. For realization of the control algorithm of the mobile platform movement, a mathematical model is developed, which allows establishing connections between angular motions of the mobile platform and linear drives of the parallel mechanism. Models of reaction forces of the platform support on the patient's foot during operation of the device are also described. A functional control diagram of the device is presented, and the modes of operation of the device are described.