Design and Clinical Application Research of Ankle-Foot Rehabilitation Robot Systems

Ankle-foot rehabilitation robots have garnered significant attention due to their importance in assisting patients with rehabilitation training and enhancing treatment efficiency. This review systematically explores the current state of research on ankle-foot rehabilitation robots, covering structural design, control methods, and clinical application cases. Firstly, the article analyzes the advantages of rigid actuators in terms of control precision and the benefits of flexible actuators in adaptability, highlighting the potential of rigid-flexible coupled structures in improving rehabilitation outcomes. Secondly, it discusses the current control strategies for ankle-foot rehabilitation robots, including passive control, active control, and impedance control, and examines their applications at different rehabilitation stages. Finally, the article summarizes clinical application cases of ankle-foot rehabilitation robots and suggests that future research should focus on optimizing structural design, developing intelligent control algorithms, and promoting widespread clinical application of these robots to provide more personalized and efficient rehabilitation solutions.