Design of an ankle rehabilitation robot based on force sensor

Abstract

We describe the ankle rehabilitation robot using a three-axis force/torque sensor. The Designed and manufactured three-axis force/torque sensor which can detect two directional force Fx, Fz and one directional torque Tz, was attached to the developed ankle rehabilitation robot. The robot was designed and manufactured using by three-axis force/torque sensor. The results of a characteristics test for the developed ankle rehabilitation robot showed that it was safely operated while the ankle bending flexibility rehabilitation exercise was performed.