2023-09-26 18:15:49
Robotics has gradually crept into all areas of life. A wide variety of models, sizes and technology are taking center stage in complex functions with a high level of precision. In the area of physical rehabilitation and biomedical engineering, the design and construction of innovative devices to improve recovery from muscle injuries is experiencing significant evolution. In particular, for ankle injuries there are new alternatives that improve the functionality and mobility of patients.
Based on the concept of a Stewart platform, the electronic engineering student Francisco Zabert, from the National University of the Northeast in Argentina, accessed a Scholarship to Stimulate Scientific Vocations (EVC-CIN) for which he has developed a robot prototype for the rehabilitation of injured ankles. The proposal was titled “Design and construction of the prototype of a robotic platform for ankle rehabilitation.” The project is directed by Dr. María Inés Pisarello, from the Biomedical Engineering Research Group of the Faculty of Exact and Natural Sciences and Surveying of the National University of the Northeast.
The project opens new lines of research, in addition to being a promising contribution to the recovery of patients.
The prototype developed by Zabert is that of a parallel robot, based on a Stewart platform. These platforms – originating from the Gough-Stewart platform but with rotational actuators – have several industrial applications, including flight simulators, teaching and research. Its high rigidity, load capacity and precision in its positions concentrated the interest of the scientific community as an alternative to traditional robots.
Francisco Zabert and María Inés Pisarello. (Photo: National University of the Northeast / Argentina Investiga)
Designed to rehabilitate an ankle, the proposed prototype has precise and multidirectional control of the movement of the affected joint. “By simulating various types of joint movements and applying controlled loads in various directions, it would provide information about the ranges of movements possessed by each particular ankle and thus create a specific therapy for each patient,” Zabert explained to Argentina Investiga.
“It is a significant contribution to scientific knowledge, particularly in the practice of physical rehabilitation,” he said when referring to the impact that the prototype can have.
The development of the prototype also combines design and 3D printing technology. The control of the movements to which a recovering ankle is subjected is achieved through programming with integrated development software implemented in microcontrollers.
Based on the analysis of inverse kinematics, the set allows you to choose to perform the six basic movements for the ankle rehabilitation process: Dorsiflexion, Plantarflexion, Inversion, Eversion, Abduction and Adduction.
Inverse kinematics is a technique for determining the configuration that the robot should adopt for a final position and orientation. This involves solving a set of mathematical equations that make it possible to occupy certain rotation angles depending on the desired translation and rotation. Thus, if we position the ankle on the end effector, it is possible to precisely rotate it.
The prototype is composed of standardized elements: rigid links (CNC machined aluminum alloy steering rod); ball joints; M3 screws and nuts; rotational actuators (servomotors); and elements made of PLA (polylactic acid) material through additive 3D printing with FDM (fused deposition modeling) technology. The latter includes both the mobile platform and the supports that contain the servomotors, the mobile platform and the ankle. Its design is made using the CAD (computer-aided design) software “SolidWorks”.
The other contribution that the Project has are the lines of research that remain open to venture into the search for new knowledge. Some of them are:
– Detailed study of the biomechanics of the ankle: the Stewart platform would allow the ankle to be subjected to a wide variety of movements in different planes and directions with precision and control. This could provide a deeper understanding of how different types of movements and loads affect the joint and surrounding tissues.
– Optimization of rehabilitation protocols: the platform could be used to study how the ankle recovers after specific injuries, such as sprains. This would lead to a deeper understanding of healing processes and allow the development of more effective and personalized rehabilitation approaches.
– Study of the influence of loading on chronic conditions: investigating how loading and movement affect the ankle could provide valuable information about chronic conditions such as osteoarthritis. This could lead to new management and treatment strategies, optimizing therapeutic approaches.
– Development of simulation models: with detailed data on the response of the ankle to different loads and movements, it is possible to develop more accurate computer simulation models. These models could be used to predict how the ankle will respond in different situations with the goal of designing more effective therapies and prevention strategies. (Source: Juan Monzón Gramajo / National University of the Northeast / Argentina Investiga)
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