A two-part rehabilitation exoskeleton foot equipped with an artificial neural network generator as control system
摘要
This article discusses a method for generating reference actions for a control system for the drives of a two-part rehabilitation exoskeleton foot. The ankle joint mechanotherapy device is designed to create a complex mechanical effect seeking to mobilize joints according to the trajectories of the natural movement of the limb during walking. The neural network generator proposed here specifies the trajectories of the movements of characteristic points of the foot in relation to various parameters of the patient’s gait and anthropometry. The use of continuous passive movement techniques in combination with elaboration of all the main joints of the foot allows the healing process and patients’ recovery to be accelerated,