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Ankle stretching rehabilitation machine for equinovarus: Automation of eversion and flexion control

Equinovarus is a foot deformity characterized by the patient's foot being at rest in an abnormally supinated state. In a clinical setting, physical therapists manually stretch the foot to a pronated state to allow the patient to retain some degree of mobility. Currently, no automated ankle stretching machine is commercially available. To tackle this issue, we have developed an automated stretching machine that controls the eversion and flexion angles of a patient's deformed foot using two pneumatic actuators. We designed a proportional and integral (PI) controller to place the foot in the desired dorsiflexed position and performed a user test involving a healthy participant. Even when the initial foot position of the participant was in an equinovarus position, the foot was successfully everted and dorsiflexed to match the desired reference posture via the stretching machine. The average differences between the reference and measured foot angles at the final state were found to be within 2° for both the dorsiflexion and eversion angles. The machine replicated the reference angles with acceptable errors.