Soft robot for ankle rehabilitation

摘要

Modern soft robotics integrates pliable materials and advanced control systems to design robots with lifelike flexibility. These adaptable machines excel in navigating intricate surroundings, interacting gently with humans, and tackling tasks requiring dexterity. This paper utilizes a pneumatic muscular actuator (PMA) that leverages pneumatic muscles and advanced technological modalities for the purpose of orchestrating the motion of ankle muscles and joints. This engineered system enables the deliberate extension, contraction, and lateral manipulation of ankle muscles, offering therapeutic assistance to individuals afflicted with conditions such as fractures, muscular atrophy, or requiring rehabilitation. The articulated design yields a soft robot for ankle rehabilitation characterized by its lightweight nature, which provides exercises for the ankle muscles and joints, flexible motion dynamics, robust mechanical integrity, economic viability, and multi-directional mobility attributes.