A User-Friendly Nonmotorized Device for Ankle Rehabilitation

The ankle is formed by several joints, and it the union of lower leg with foot. Its main function to perform dorsiflexion plantar flexion movements. Many people are affected problems. These problems can be due simple factors, but they also a sign more serious impairment that lead need for rehabilitation. Thus, this paper presents novel, fairly nonmotorized device design novel based on crank–rocker mechanism, activated patient’s upper limb, allowing execution range. dimensions were found using differential evolution algorithm considering movement limits, link stress, singularity configurations. Graphic simulations performed validate mathematical model. A prototype was constructed, angular verified. easy operate low-cost, in future, may tool