Design research of bionic auxiliary device for ankle rehabilitation based on the ball pin vice

A kind of auxiliary device for ankle rehabilitation based on ball pin vice is designed and developed. The device has two degrees of freedom, but it can achieve approximatively the three-dimensional movement of the bionic ankle. When the device is used for auxiliary ankle rehabilitation, which only leads ankle to rotate not to move, and its structure is very simple. The ball pin pairs are adopted as the main support to simulate ankle movement for the device. The ball pin pairs connect upper platform and lower platform, respectively; Dorsal flexion/plantar flexion drive system and inversion/eversion drive system are adopted, and they are connected to the upper platform and lower platform through the ball pin pairs respectively to drive the upper platform movement relative to the lower platform. Firm-soft composite structure is adopted for the two drive systems; Distributed hierarchical control system for CAN bus is adopted for the device, which can realize subsection control for dorsal flexion/plantar flexion movement, inversion/eversion movement and their composite motion. By prototype experiment, it is verified for the auxiliary rehabilitation device to simulate the movement of feet very well, which is helpful for recovery of ankle joint.