Biomechanics of the Ankle Joint

Ravella, Krishna C.; Ahmad, Jamal; Amirouche, Farid

doi:10.1007/978-3-030-81549-3_31

Cited by 5 publications

(5 citation statements)

References 33 publications

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“…First, we studied the ankle anatomy in [19] and the International Society of Biomechanics (ISB) [20]. Following that, we used the open-source digital model (z-anatomy) [21] to identify the bones, insertions, tendons, and muscles related to the ankle movement.…”

Section: Methodsmentioning

confidence: 99%

“…Instead of providing a count for the number of academic database hits, we have included the fundamental kinematics and robot design sources related to screw theory that we consulted, as well as the cited literature on ankle anatomy [19][20][21], where we found inspiration to create our design. We firmly believe that comprehending ankle biomechanics requires these references.…”

Section: Introductionmentioning

confidence: 99%

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Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

View full text Add to dashboard Cite

show abstract

“…First, we revisited the ankle model from anatomy [27] and the International Society of Biomechanics (ISB) [28]. Then, we use the open-source digital model (z-anatomy) [29] to identify the bones, insertions, tendons, and muscles related to the ankle movement.…”

Section: Methodsmentioning

confidence: 99%