This chapter presents the development of an intrinsically compliant soft ankle rehabilitation robot (SARR). Specifically, it involves the robot kinematics and dynamics, the Festo Fluidic Muscles (FFM) modelling, the force distribution that distributes a given robot torque of the task space into individual FFM force of the joint space, the calculation of ankle forces and torques, and the construction of the SARR. These provide the basis for the implementation of advanced interactive training schemes. In general, the SARR devised from two literature reviews has advantages over other rehabilitation devices, including intrinsically compliant actuation system, compatible robot structure with aligned rotation centre between the robot and the human ankle, three degrees of freedom (DOFs) for three-dimensional rehabilitation exercises, and the integration of real-time ankle assessment. By using the SARR, robot-assisted ankle rehabilitation can be safer, more comprehensive and effective.

Chapter Contents:

• 6.1 Ankle complex
• 6.2 Existing ankle rehabilitation robots
• 6.3 Design requirements of ankle rehabilitation robots
• 6.3.1 Ankle range of motion and torque
• 6.3.2 Robot flexibility
• 6.4 Conceptual design of the soft ankle rehabilitation robot
• 6.5 Kinematics of the soft ankle rehabilitation robot
• 6.6 Dynamics of the soft ankle rehabilitation robot
• 6.6.1 Ankle force and torque
• 6.6.2 Inertial property of the moving unit
• 6.6.3 Force distribution
• 6.6.4 Festo fluidic muscle modelling
• 6.7 Construction of the soft ankle rehabilitation robot
• 6.8 Summary
• Appendix A Bill of materials
• References

Inspec keywords: patient rehabilitation; biomechanics; medical robotics; robot kinematics; robot dynamics

Other keywords: real-time ankle assessment; soft ankle rehabilitation robot; festo fluidic muscles; robot kinematics; three-dimensional rehabilitation exercises; ankle forces; ankle torques; robot torque; robot dynamics

Subjects: Mechanical properties of tissues and organs; Patient care and treatment; Biological and medical control systems; Patient care and treatment; Robotics