Design and Evaluation of a Novel Self-Adaptive Ankle Rehabilitation Exoskeleton with Elastic Modules

This paper proposes a novel ankle rehabilitation exoskeleton based on the research of human gait cycle, aiming to assist patients with neurological injury to recover quickly. The mechanism consists of two frames equipped with ankle joints and toe joint. The lower limbs and musculature system are correlated to propose the model. Incorporating spring modules are provided on the instep, the bottom of toes and either sides of the ankles which cushions lower limbs and reduces energy consumption. Kinematics and stress analysis are conducted to verify the feasibility of the model. Besides, the simulation, which incorporates the elastic elements and springs, is presented. Finally, the modular facilitates could easy integration with other rehabilitation modules for a comprehensive system. Overall, this research provides theoretical and engineering technical support for developing lower limb rehabilitation robots with adaptive stability, diversified movement functions, and human-computer interaction safety and health under different conditions.