Abstract
Introduction: A multi-degree-of-freedom ankle rehabilitation robot with an adjustable workspace has been designed to facilitate ankle joint rehabilitation training. It features a rotation center adapted to the human body, making it suitable for patients with ankle dysfunction following a stroke. Method: In this study, a multi-degree-of-freedom reconfigurable ankle rehabilitation robot (RARR) with adaptable features, based on the principles of ergonomics, has been proposed to cater to the varying needs of patients. This robot offers an adjustable workspace, allowing for different types of ankle joint rehabilitation exercises to be performed. By adjusting the assembly of the RARR, personalized and targeted training can be provided to patients, circumventing issues of redundancy in degrees of freedom during its use. A kinematic model of the robot has been established, and finite element simulation has been employed to analyze the strength of critical components, ensuring the safety of the robot. An experimental platform has been set up to assess the smoothness of the rehabilitation process with RARR, with angle measurements conducted using an Inertial Measurement Unit (IMU). Results and discussion: In conclusion, both simulation and experimental results demonstrate that the robot offers an adjustable workspace and exhibits relatively smooth motion, thereby confirming the safety and effectiveness of the robot. These outcomes align with the intended design goals, facilitating ankle joint rehabilitation and advancing the field of reconfigurable robotics. The RARR boasts a compact structure and portability, making it suitable for various usage scenarios. It is easily deployable for at-home use by patients and holds practical application value for wider adoption in rehabilitation settings.