A 2DOF platform for ankle sprain rehabilitation

In this work, two-degree-of-freedom (2DOF) platform for ankle sprain rehabilitation is designed and realized. These instrumented platforms were designed for clinical rehabilitation of the repetitive movement of ankle with changing direction. Four motors have been used for 2DOF motion control. A Microsystems based on microcontroller was realized for driving the whole instrumentation. For proper monitoring of the ankle rehabilitation, we found it useful to insert an accelerometer for measuring the angle of inclination; this measurement is taken from the measurement of static acceleration.