Control of the Active-Passive Ankle Mechanotherapy Device

This article discusses the device for active-passive mechanotherapy of the ankle joint. The device is based on a controlled mobile platform on which the patient’s foot is placed using special cuffs equipped with force meters, while the rotation angles of the platform are controlled by special sensors. Structurally the platform of the device is installed so that the rotation of the platform is always coincided with the center of the ankle joint, for which the parallel kinematics mechanism based on three linear electric drives is used. The control system of the device provides both active and passive movement of the platform. For realization of algorithm of controlling movement of mobile platform, the mathematical model is developed, it allows to establish connections between angular motions of mobile platform and linear drives of parallel mechanism. The algorithms for controlling the platform are considered.