title: Type synthesis and preliminary design of devices supporting lower limb's rehabilitation.
abstract: OBJECTIVE
  Based on the analysis of existing solutions, biomechanics of human lower limbs and anticipated applications, results of con- siderations concerning the necessary number of degrees of freedom for the designed device supporting rehabilitation of lower extremities are presented. An analysis was carried out in order to determine the innovative kinematic structure of the device, ensuring sufficient mobility and functionality while minimizing the number of degrees of freedom.
  
  
  METHODS
  With the aid of appropriate formalised meth- ods, for instance, type synthesis, a complete variety of solutions for leg joints were obtained in the form of basic and kinematic schemes, having the potential to find application in devices supporting lower limb rehabilitation.
  
  
  RESULTS
  A 3D model of ankle joint module was built in Autodesk Inventor System, then imported to Adams and assembled into a moving numerical model of a mechanism. Several conducted simulations resulted in finding the required maximum stroke of the cylinders.
  
  
  CONCLUSIONS
  A comparison of the angular ranges of ankle joint and similar devices with the ones achieved by the designed device indicated a sufficient reserve allowing not only movements typical of gait, but approximately achieving the passive range of motion for the ankle joint.
authors.affiliation: Department of Biomedical Engineering Mechatronics and Theory of Mechanisms, Faculty of Mechanical Engineering, Wrocław University of Technology, Wrocław, Poland.
authors.forename: Michał
authors.initials: M
authors.lastname: Olinski
authors.affiliation: Department of Biomedical Engineering Mechatronics and Theory of Mechanisms, Faculty of Mechanical Engineering, Wrocław University of Technology, Wrocław, Poland.
authors.forename: Bogusz
authors.initials: B
authors.lastname: Lewandowski
authors.affiliation: Department of Biomedical Engineering Mechatronics and Theory of Mechanisms, Faculty of Mechanical Engineering, Wrocław University of Technology, Wrocław, Poland.
authors.forename: Antoni
authors.initials: A
authors.lastname: Gronowicz
mesh_terms: D000843:Ankle Joint / Q000502:physiology*; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D004867:Equipment Design; D005684:Gait / Q000502:physiology; D006621:Hip Joint / Q000502:physiology; D006801:Humans; D021621:Imaging, Three-Dimensional; D007719:Knee Joint / Q000502:physiology; D035002:Lower Extremity / Q000502:physiology*; D009068:Movement; D009989:Orthotic Devices; D026741:Physical Therapy Modalities; D016059:Range of Motion, Articular