Stepping towards independence: a creative low-cost robotic ankle-foot mechanism for post-stroke rehabilitation

Abstract

This paper presents a robotic ankle-foot system for post-stroke rehabilitation, addressing ankle-joint issues in stroke patients. The system interfaces with MATLAB mobile sensors and consists of two key components: a basic robotic platform and a control system with a shared microcontroller and two IR sensor modules for angle adjustment limits. The mechanical construction utilises plain carbon steel SAE 1030 due to its strength properties. Computer simulations were used to validate the technique, focusing on angular velocity as a key parameter. Analysis of passive/active joint parameters showed significant improvements, with maximal dorsiflexion/plantarflexion angles increasing from 12.0 to 28.0 degrees and 20.5 to 27.0 degrees. This system effectively reduces ankle spasticity and contracture, offering a viable clinical rehabilitation option. Mathematical models for stress, strain, displacement, and safety factor were provided with strong correlation. Promising results have prompted further testing on real stroke survivors and exploration of lightweight, weight-bearing materials for future research.