Analysis of a Wearable Robotic System for Ankle Rehabilitation ^†

As one of the most commonly injured joints of the human body, the ankle is often subject to sprains or fractures that require motion assistance to recover mobility. Whereas physiotherapists usually perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in the last years. However, their design is usually bulky and requires the patient to sit or stand in a static position. A lightweight wearable device for ankle motion assistance, the CABLEankle, is here proposed for motion ankle exercising in rehabilitation and training. The CABLEankle is based on a cable-driven S-4SPS parallel architecture, which enables motion assistance over the large motion range of the human ankle in a walking gait. The proposed mechanism design is analyzed with kinematic and static models, and the force closure workspace of the mechanism is discussed with analytical results. Finally, the feasibility of the proposed design is investigated through numerical simulations over the ankle motion range as a characterization of the peculiar motion.