Affiliation:
1. Southwest State University, Russia
Abstract
This chapter 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 using cuffs, and linear motion sensors control the platform rotation angles. The device's platform is designed so that the rotation axis of the platform always coincides with the center 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 the realization of the control algorithm of the mobile platform movement, a mathematical model is developed, which allows for establishing connections between the angular motions of the mobile platform and linear drives of the parallel mechanism. Models of the platform support reaction forces on the patient's foot during the operation of the device are also described. A functional control diagram of the device and its modes of operation are described.