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Design Innovation

A Mechatronic Device for the Rehabilitation of Ankle Motor Function

[+] Author and Article Information
Giuseppe Bucca

Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, Milano 20156, Italygiuseppe.bucca@polimi.it

Alberto Bezzolato

Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, Milano 20156, Italyalberto.bezzolato@mecc.polimi.it

Stefano Bruni

Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, Milano 20156, Italystefano.bruni@polimi.it

Franco Molteni

Valduce Hospital, Villa Beretta Rehabilitation Centre, Via N. Sauro, Costa Masnaga 23845, Italyfmolteni@valduce.it

J Biomech Eng 131(12), 125001 (Oct 29, 2009) (7 pages) doi:10.1115/1.4000083 History: Received December 19, 2008; Revised May 25, 2009; Posted September 01, 2009; Published October 29, 2009

This paper presents the main results from a research aiming at the design of an electromechanical actuator for use in the rehabilitation of ankle motor function in patients suffering due to neurological diseases. Motivations for the research project are discussed within the framework of the application of mechatronic concepts for rehabilitation practice. The entire design process is then described, from the definition of project targets through the mechanical concept and control design steps until design validation by means of numerical simulations and tests on a prototype.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Reference motion law (talo-crural joint) for a male subject

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Figure 2

(a) Mechanical design and (b) physical prototype of the MecDEAR

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Figure 3

Block diagram of the regulator

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Figure 4

Diagram of the electronic hardware implementing the regulator

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Figure 5

Biomechatronic mathematical model of the MecDEAR device: (a) cosimulation of the mechatronic and biomechanical components and (b) detail of the ADAMS/LIFEMOD submodel

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Figure 6

Tests with added masses (3 kg): angular position of the talo-crural joint and positioning error

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Figure 7

Tests with added masses (6 kg): angular position of the talo-crural joint and positioning error

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Figure 8

Tests with added masses: motor current measured under 3 kg and 6 kg loads

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Figure 9

Tests on humans: angular position of the talo-crural joint and positioning error during a test on a healthy subject

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Figure 10

Tests on humans: motor current measured during a test on a healthy subject

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