Mechanical design and control system development of novel 2 degree-of-freedom ankle and balance rehabilitation robotic system

Stroke is a leading cause of serious long-term disability in the United States. Ankle and balance disabilities are caused by neurological impairments such as traumatic brain injury, cerebral palsy and stroke. Due to increased survival rates after stroke, significant growth in stroke population is projected by 2030, which will make rehabilitation procedures even more important. Common rehabilitation techniques require intensive cooperation and effort of therapists and patients over prolonged sessions. Conventional ankle and balance rehabilitation systems are built from a simple set of mechanical elements which lack sensory systems or networks. Current more advanced technologies do not combine ankle strength, mobility, motor control and coordinated balance training in one device that can retrain the patients in multiple positions from sitting to standing.