초록 ▼

The present invention relates to a system for rehabilitating an ankle in which a mobile platform receives a patient's foot. The mobile platform can be moved in six degrees of freedom. The position and orientation of the mobile platform is measured in relation to the fixed platform in six degrees of

The present invention relates to a system for rehabilitating an ankle in which a mobile platform receives a patient's foot. The mobile platform can be moved in six degrees of freedom. The position and orientation of the mobile platform is measured in relation to the fixed platform in six degrees of freedom. The force exerted by the foot against the mobile platform is measured in six degrees of freedom. The measured position and measured force are forwarded to an electronic interface and fed to a programmable computer. The programmable computer determines desired force feedback to be applied by the controller interface to the mobile platform. The desired feedback signal moves the mobile platform to a desired position or applies a desired force or torque to the mobile platform. The rehabilitation system can include simulation of virtual objects which can be moved by the user to simulate an exercise. For example, the virtual reality simulation can include exercises for balance, flexibility and strength. The system can be remotely controlled in a telerehabilitation environment.

대표청구항 ▼

[ We claim:] [1.] An ankle rehabilitation system for rehabilitating an ankle of a user comprising:a mobile platform adapted to be coupled to a foot of the user;a fixed platform coupled to said mobile platform;six linear actuator assemblies to determine a measured position of said mobile platform in

[ We claim:] [1.] An ankle rehabilitation system for rehabilitating an ankle of a user comprising:a mobile platform adapted to be coupled to a foot of the user;a fixed platform coupled to said mobile platform;six linear actuator assemblies to determine a measured position of said mobile platform in relation to said fixed platform in six degrees of freedom each, of said linear actuator assemblies having an upper attachment end attached to said mobile platform and a lower attachment end attached to said fixed platform;means for measuring force exerted by said foot against said mobile platform in six degrees of freedom; andmeans for controlling said mobile platform receiving said measured position of said mobile platform and said measured force exerted by said foot against said mobile platform and applying desired force feedback in six degrees of freedom to said mobile platform.