Bio-Inspired Ankle Rehabilitation Mechanism Based on Cable-Driven

The ankle joint is the most important weight-bearing joint in the human body and is easily injured. Therefore, a lot of research has been carried out on the robotic mechanism of ankle rehabilitation. However, most rehabilitation mechanisms are difficult to apply due to the lack of compliance and adaptability. According to the anatomic structure of an ankle joint, a bio-inspired ankle rehabilitation mechanism driven by cables was designed by simulating antagonistic muscles. The kinematics of the rehabilitation mechanism is then analyzed. Finally, the ankle joint trajectories of five participants were compared in the case of normal movement and using the rehabilitation mechanism, demonstrating the compliance and adaptability of the presented rehabilitation mechanism.