Interactive device supporting ankle joint rehabilitation

  • Michał OlinskiEmail author
  • Antoni Gronowicz
  • Marco Ceccarelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The paper is focused on development of a device supporting rehabilitation of the human ankle joint enabling also measurements of various parameters in order to diagnose the human state and its progress, as well as to characterize and personalise the therapy. First step in the device’s design was to identify its kinematics by performing type synthesis and finding possible solutions. Afterwards, a selection of motors, as well as elements of electric and electronic systems (including sensors) has been performed. The mechanical system of the research prototype in the form of 3D drawings was designed and a research prototype was built. In order to carry out the experiments a control system has been designed in Matlab Simulink and applied using a dSpace real time controller. Moreover, experimental modes have been prepared to be controlled with a built user graphical interface. Experiments in different modes and with various input parameters were developed and data of kinematic and dynamic parameters has been gathered.


Biomechanics Mechatronics Design Experimental mechanics Human-machine interaction Ankle articulation 


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Part of this work has been developed within the project NJK (EU support) at the Faculty of Mech. Eng. of WUST, Wrocław, Poland.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Biomedical Engineering, Mechatronics and Theory of MechanismsWrocław University of Science and Technology (WUST)WrocławPoland
  2. 2.Department of Industrial EngineeringUniversity of Rome Tor VergataRomeItaly

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