Design and motion analysis of a coaxial ankle rehabilitation device

Abstract Ankle joint is an important joint related to walking in the human body. It is also a joint that is easy to leave sequelae in all joints of stroke patients. According to the physiological characteristics of the human ankle and the characteristics of ankle rehabilitation institutions, the overall structure of the coaxial ankle rehabilitation robot is designed, and the motion principle of the coaxial transmission mechanism is emphatically introduced. Using SolidWorks software to simulate the kinematics of the virtual prototype, and comparing the simulation data with the theoretical data, the accuracy of theoretical analysis and the feasibility of mechanism design are verified, which provides a theoretical basis for the subsequent mechanism size optimization design.