Ankle Rehabilitation Device

Aplication

Device focused in giving affordable, efective and customizalbe rehabilitation treatments for ankle injurys.

Parallel Robot

Six-degrees-of-freedom mechanism with two bodys (base and plate) conected with six linear actuators. I designed the universal joints on top and bottom of the device which made it cappable of holding up to 200 kg.

Control

Design of a robust controller based on a Super-twisting PD controller for each individual motor programed into a micro-controller. An important part of the project was the precise caracterization of the linear actuators. The rutines were programed in simulink (for a visual representation of the process) using inverse kinematics. The position for each motor was sent to the micro-controller by a serial communication protocol that we designed.

Rutines

By the end of my participation on the project, the device had four pre-programed rutines: 1. Dorsiflexion and Plantar flexion 2. Eversion and Inversion 3. Lateral rotation and Medial rotation 4. A combination of the above. All four rutines are customizable, varying the speed of the movement and the angle that each movement does.