Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle

Biomimetics Applied To Kinematic Model For Lower Limbs

The biomimetic point of view is important to understand the physical and physiological phenomena involved, aiming to create an effective physiological response in rehabilitation. Understand aspects of the movement of the joints and reaction forces, your behavior over bone tissue, are points needed to develop a robot dedicated to rehabilitation (Bai, 2015). In this analysis, the starting point is to ensure the re-production of the ankle joint moves. Therefore, the robot must provide with only one degree of freedom, allowing the reproduction of flexion plantar and dorsiflexion (Ahmad, 2013) as shown in Figure 1.

Figure 1.

Ankle joint movements

The angles shown in Figure 1 related to the maximum displacement of the ankle joint. Dorsiflexion is the movement, which gives the gear cadence while plantar flexion is responsible for generating impulse at the beginning of travel. This way the definition of an efficient and accurate kinematic model from the computational point of view becomes important (Schmidt, 2004), this being shown by the Equation 1.