Active and Passive Ankle Rehabilitation Strategy Based on Plantar Force Feedback

The increase in the number of people with ankle injuries and the shortage of rehabilitation physicians is an important social problem at this stage. In this regard, a combined active-passive assisted rehabilitation strategy is proposed based on a 2-SPU/RR ankle rehabilitation robot. Firstly, the virtual prototype model and the corresponding structural sketch are established, and the kinematic analysis is carried out to solve the workspace of the robot. The results show that the robot is capable of meeting the demands of plantarflexion-dorsiflexion and inversion-eversion compound movements of the ankle joint. Then, aiming at the problem that the current research content of rehabilitation robot is only passive rehabilitation, failing to rehabilitate patients according to their actual ankle injuries, a method of combining active and passive rehabilitation of the ankle robot is proposed. First preset the rehabilitation movement trajectory, the patient's movement intention is obtained based on the plantar pressure