ANKLE REHABILITATION SYSTEM

摘要

This invention is a system (10) for rehabilitating an ankle in which a mobile platform (25) receives a patient's foot (11). The mobile platform (25) can be moved in 6 degrees of freedom. The position, and orientation of the mobile platform (25) is measured in relation to a fixed platform (29) in 6 degrees of freedom by a plurality of linear actuators (30). The force exerted by the foot against the mobile platform (25) is measured in 6 degrees of freedom. The measured position, and measured force are forwarded to an electronic interface (14) that is fed to a programmable computer (18). The programmable computer (18) determines desired force feedback to be applied by the controller interface (14) to the mobile platform (25). The desired feedback signal moves the mobile platform (25) to a desired position or applies a desired force or torque to the mobile platform (25).