4.6 Article

Design and Experimental Testing of an Ankle Rehabilitation Robot

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State of the art in parallel ankle rehabilitation robot: a systematic review

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Summary: The study provides a systematic review of the state of the art in parallel ankle rehabilitation robot (PARR) technology, focusing on mechanism configurations, actuator types, and rehabilitation training methods. A total of 65 articles representing 16 unique PARRs were reviewed, revealing mechanical design considerations, actuator types, trajectory tracking control techniques, and the need for clinical trials to validate their effectiveness in rehabilitation. Future research is needed to improve trajectory tracking accuracy, interactive control performance, and develop multimode rehabilitation training methods to meet the needs of different ankle disabilities and rehabilitation stages.

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