The Wearable Foot Rehabilitation Soft Robot

In this paper, a soft robot for foot rehabilitation is proposed. The presented robot is comfortable to wear, and it is designed to be suitable for a wide range of adult foot sizes. It is easy to use either by a physiotherapist or by the patient due to the softness, its lightweight, and a wide range of included programs. Furthermore, the system is suitable for foot exercises. The soft robot is actuated by two contraction pneumatic artificial muscles (PAM) which are controlled by the bang-bang control system. The robot has been tested and validated, and it shows high performance for the rehabilitation process and smooth operation due to the softness of its material and the actuation behaviour.