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Ankle Rehabilitation Device

The ankle joint is a compound joint consisting of four bones, namely tibia, talus, tibula, and calcaneus. Ankle joint motion is 3-dof motion which can be replicated by the 3-RPS parallel mechanism with intersecting R-axes. This robot hence can be used to rehabilitate your ankle if you happen to have ankle sprain.

Design 1:

Design 2:

From the first design, some design revisions are continuously applied. Surprisingly, the workspace of this parallel mechanism is bounded by Cross-Cap surface.

Operation mode x1=0                                           Operation mode x2=0