An anlde rehabilitation device and its control strategy

Ankle rehabilitation training can help the patient better recover from ankle joint injury. This paper presents an ankle rehabilitation device (ARD), which is composed of mechanical structure and its electronic controller unit. ARD can provide ankle training in sagittal plane. The device covers three rehabilitation training modes, which are called as isokinetic training, joint position sense training and equally damped training. Also, the corresponding control parameters of each mode, such as velodty parameter, position parameter and damping parameter can be adjusted to fit practical applications. The controller unit is designed by weighted Hastate feedback control approach. This device is validated by experiments, and can be used to the majority of people who have anlde injuries with more saentific and accurate rehabilitation instead of traditional training by human hand The limitation to using ARD as ankle imnt training is that there is only 1-degree-of-freedom can be taken.