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Ankle rehabilitation system

  • US 6,162,189 A
  • Filed: 05/26/1999
  • Issued: 12/19/2000
  • Est. Priority Date: 05/26/1999
  • Status: Expired due to Term
First Claim
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1. An ankle rehabilitation system for rehabilitating an ankle of a user comprising:

  • a mobile platform adapted to be coupled to a foot of the user;

    a fixed platform coupled to said mobile platform;

    six linear actuator assemblies to determine a measured position of said mobile platform in relation to said fixed platform in six degrees of freedom each, of said linear actuator assemblies having an upper attachment end attached to said mobile platform and a lower attachment end attached to said fixed platform;

    means for measuring force exerted by said foot against said mobile platform in six degrees of freedom; and

    means for controlling said mobile platform receiving said measured position of said mobile platform and said measured force exerted by said foot against said mobile platform and applying desired force feedback in six degrees of freedom to said mobile platform.

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