Desenvolvimento de um equipamento robótico para reabilitação dos movimentos individuais do tornozelo com utilização de atuador linear

Abstract

This research project aims the development of a robotic device to be applied in individual ankle rehabilitation movements of people who suffered physical or neurological injury. The approached movements in this study are plantarflexion/dorsiflexion, inversion/eversion and abduction/adduction. Each pair act in one of the three ankle joint degrees of freedom. At the rehabilitation exercises, the physiotherapist promotes the resistance on the patient foot and ankle to execute the movements. In this project, the mathematical model is elaborated and then designed the 3D model at a CAD/CAE software, for a future manufacturing of the prototype. The equipment was designed to be compact and counts with a linear actuator to do the necessary movement and allow the foot support inclination. Its application will allow a better precision of the rehabilitation exercises due to better angle control and applied force over the patient ankle.