Abstract

GUZMAN VALDIVIA, Cesar Humberto et al. Diseño y control de un sistema interactivo para la rehabilitación de tobillo: TobiBot. Ingenier. mecáni. tecnolog. desarroll [online]. 2014, vol.5, n.1, pp.255-264. ISSN 1665-7381.

Humans are always at risk of ankle injuries that may cause permanent muscle damage. However, with proper rehabilitation, ankle heals quickly without becoming a chronic problem. Rehabilitation in a general sense aims to restore the lost motion due to a traumatic incident through physical therapy. In this paper, the design and control of an interactive system (TobiBot) of 1 DOF for patients who require ankle rehabilitation is presented. Abiomechanical analysis of the basic movements of ankle dorsiflexion/ plantarflexion using kinematics to determine the mechatronic design of the rehabilitation is presented. A graphical user interface is presented to facilitate human-machine interaction; also this interface includes a videogame mode for ankle rehabilitation. A PID control scheme is proposed for the smooth and accurate control movements of passive rehabilitation and an impedance controller for active rehabilitation movements. Prototype function tests with healthy subjects using the control schemes proposed to display smooth and controlled response rehabilitation movements are presented. The experimental results demonstrate the great potential of TobiBot to assist in the ankle rehabilitation.

Keywords : Ankle rehabilitation; mechatronic design; control; graphic user interface; videogame.

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