Control of a Device for Mechanotherapy of the Ankle Joint

A device for mechanotherapy of the ankle joint implemented on the basis of a parallel manipulator is described. The controllable mobile platform of the device allows the patient's foot to be rotated in the sagittal and frontal planes and the meter built into the platform monitors the force of the interaction between the foot and the platform at three points. The mobile platform motion control unit generates control voltages depending on the reference model and corrective stresses, providing high accuracy in reproducing the physician-specified platform motion laws, taking account of changes in the physiological parameters of the ankle joint during rehabilitation.