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Abstract

This study developed an ankle rehabilitation device for post-stroke patients. First, the research models and dynamic equations of the device are addressed. Second, the Sliding Mode Controller for the ankle rehabilitation device is designed, and the device's response is simulated on the software MATLAB. Third, the ankle rehabilitation device is successfully manufactured from aluminum and uses linear actuators to emulate dorsiflexion and plantarflexion exercises for humans. The advantages of the device are a simple design, low cost, and mounts onto rehabilitative equipment. The device can operate fast through experiments, has a foot drive mechanism overshoot of 0°, and a maximum angle error of 1°. Moreover, the rehabilitation robot can operate consistently and is comfortable for stroke patients to use. Finally, we will fully develop the device and proceed to clinical implementation.
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Authors and Affiliations

Minh Duc Dao
1
ORCID: ORCID
Xuan Tuy Tran
2
Dang Phuoc Pham
1
Quoc Anh Ngo
1
Thi Thuy Tram Le
3

  1. Faculty Technology and Engineering, The Pham Van Dong University, Quang Ngai, Vietnam
  2. Faculty Technology of Mechanical Engineering, The University of Danang – University of Science and Technology, Danang, Vietnam
  3. The Faculty Electronic-Electrical, The Quang Nam College, Quang Nam, Vietnam

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