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Dynamics simulation of a neuromuscular model of ankle clonus for neurophysiological education by a leg-shaped haptic simulator

We have proposed a leg-shaped haptic simulator (Leg-Robot) that provides an environment for young physical therapist to learn rehabilitation techniques or diagnosis techniques with haptic information which mimics a real patient with abnormal motor function, for example, stroke or spinal cord injury. In previous studies, we also proposed a control method to develop a clonus-like movement for the Leg-Robot. However, it was a completely engineered approach and does not reflect neurological knowledge of the disability sufficiently. In order to enhance profitability of the Leg-Robot as an educational system to learn neurophysiological mechanism of abnormal activities of disabled patients, we newly developed neurologically knowledge-based control method to simulate and control a clonus-like movement of the Leg-Robot. In this paper, dynamic simulation with Open Dynamics Engine (ODE) of a proposed clonus model is mainly discussed.