Robotic Device for Active-Passive Mechanotherapy of the Ankle Joint

This paper describes the design and control system of a robotic device for active-passive mechanotherapy of the ankle joint. The paper raises the question of the importance of these developments in modern rehabilitation, provides examples of work in this area, and also indicates the difficulties in organizing a control system for such a device, due to the spasticity and musculoskeletal contracture of the ankle joint, as well as the general uncertainty and individuality of the muscular system of the ankle joint during rehabilitation. The paper describes the design of the device, the location of the measuring modules, and the operating principle of the adaptive control system for this device. Data obtained during experimental studies are also presented and the influence of various factors during rehabilitation procedures on the behavior of the musculoskeletal system is described. This paper describes the mathematical modeling of the behavior of this system, and indicators of the stiffness and viscosity of the musculoskeletal system are derived, allowing the adaptation of device control algorithms.