Active Rehabilitation Exercises With a Parallel Structure Ankle Rehabilitation Prototype

In this paper the implementation of impedance controllers to develop active rehabilitation exercises are presented. For which it is used a parallel structure ankle rehabilitation prototype with a mechanism of the type 2-RRSP (two closed kinematic chains and consisting of joints: revolute-revolute-sphere in slot- fixed post with sphere). Free software is used to develop the computer programs associated with rehabilitation exercises. The results of active rehabilitation exercises are reported, wich involves the effect of resistance from the rehabilitation prototype to the user operation: low, medium and high opposition effects are considered.