Designing, Modelling and Implementation of AnkleFlexAR for Ankle Joint Rehabilitation

Abstract

The developed low-cost user-friendly ankle joint rehabilitation system enables patients to perform mandatory physiotherapeutic exercises by controlling four essential foot movements, which consist of dorsiflexion as well as plantar flexion and inversion and eversion. An ESP32 microcontroller forms the core of this device because it produces wireless Bluetooth connectivity and enables real time monitoring and control through an application made specifically for this system. One DC motor functions through the BTS7960 high-current motor driver to establish two-directional mechanical movement. The device contains limit switches, which track position precision while stopping movements beyond safe limits. The system provides users with two operational modes that can be run manually or by providing predefined parameters. Under predefined operation, the device runs rehabilitation sequences through either cycle-based counting (stroke-based) or time-based controls (timer-based). Therapists together with users gain control over the direction of movement through a joystick module present in the manual operating mode. All system components benefit from stable operation through the buck converter, which regulates power supply. A WTC (Wireless Transmission Component) enables uninterrupted communication between the hardware components and mobile interface system. The system exists as a non-portable device but it maintains a design suitable for stable operation in clinical and home-based environments. The system offers affordable setup and straightforward user interface features that enable healthcare providers to serve patients in diverse settings and monitor their achievements apart from permitting therapists to refine protocols as required.