Design and Implementation Soft Robotic Rehabilitation Device for Ankle Motion Exercises

摘要

Soft robotics has attracted substantial attention over the last decades because it provides safe, compatible, and inexpensive options for robotic systems. This paper presents the development of a soft wearable ankle rehabilitation (SWAR) robot to help stroke patients' natural ankle movements. The SWAR consists of soft actuators made of fabric-based, thermally bonded nylon and is intended for use in bed. Utilizing a soft contracting actuator, the technology aids dorsiflexion motion and offers a soft ankle exosuit to enhance plantarflexion motion during spasticity. At 100kPa, the dorsiflexion actuator can deliver a linear tensile force of 30N with a 5cm displacement. Based on prior research results, the soft ankle exosuit can fulfill the biomechanical requirements of ankle plantarflexion motion at the same 100kPa pressure.