WO2022125017A1

WO2022125017A1 - A system for a wearable ankle rehabilitation robot and a method thereof

Info

Publication number: WO2022125017A1
Application number: PCT/TR2021/050522
Authority: WO
Inventors: Erhan AKDOGAN; Emre YILDIRIM; Gokhan AYBASTI
Original assignee: Yildiz Teknik Universitesi; Yildiz Teknoloji Transfer Ofisi Anonim Sirketi
Priority date: 2020-12-08
Filing date: 2021-06-01
Publication date: 2022-06-16
Also published as: TR202020038A2

Abstract

The present invention relates to a wearable ankle rehabilitation robot (10) system and a method thereof, wherein said rehabilition robot system has a hardware structure that allows the physical therapy and rehabilitation processes of the ankles of partially or fully paralyzed patients, especially cerebral palsy, to be remotely controlled via interface devices (30) such as mobile devices or data processing devices, which is suitable for home care services. The present invention provides a wearable ankle rehabilitation robot (10) system and method thereof, wherein said robot is capable of performing ankle dorsiflexion and plantar flexion movements, is adjustable according to the limb size of a person, is able to determine the muscle degree by making artificial intelligence-based evaluation by the exercise modes where measurements are made with EMG and force sensors (13), capable of performing passive stretching, active assisted, active resistance, isometric (fixed ankle joint angle, variable resistance), isotonic (variable ankle joint angle, fixed resistance) and other exercises according to rehabilitation theory by means of the present invention.

Description

A SYSTEM FOR A WEARABLE ANKLE REHABILITATION ROBOT AND A METHOD THEREOF

The present invention relates to a wearable ankle rehabilitation robot system and a method thereof, wherein said robot system has a hardware structure that allows the physical therapy and rehabilitation processes of the ankles of partially or fully paralyzed patients, especially cerebral palsy, to be remotely controlled via an interface device consisting of a data processing or mobile device, which is suitable for home care services.

The present invention particularly relates to a wearable ankle rehabilitation robot system and a method thereof, wherein said robot system is capable of performing various exercises according to the rehabilitation theory by evaluating the data regarding movement exercises obtained by means of a wearable rehabilitation robot that is capable of performing dorsiflexion and plantar flexion movements of the ankle, and allows for improving motor control of patients by means of performing exercises in the form of game-based visual biofeedback.

State of the Art

The diagnosis and treatment of physical and functional disorders in the musculoskeletal, nervous or cardiovascular systems are carried out by means of the physical therapy and rehabilitation applications. The treatment of neurological diseases, orthopedic problems, functional disorders developing after some surgeries, and movement restrictions due to other diseases in addition to musculoskeletal and nervous system problems can be applied by means of physiotherapy. The aim of the applied treatments is to eliminate the functional disorders and pain in the patient, to increase the quality of life and independent movement potential of the patient. Many different forms of treatment are applied to patients by physiotherapists for the treatment of loss of function and movement that vary from person to person.

Nowadays, rehabilitation services are traditionally performed with manual treatments by physiotherapists. Patients visit rehabilitation centers in order to receive service. The number of physiotherapists is insufficient in some cases where the number of patients is high. The treatment process takes a long time in this conventional method. Furthermore, the costs of rehabilitation services are generally high and patients may experience difficulties in visiting treatment centers. In addition to this, subjective cases may occur in the manual diagnosis and treatment of physiotherapists as in all human-based services. This condition creates various mistakes in the diagnosis and treatment of patients. Also, physiotherapists have difficulty in treating physically severe patients. Joint and waist disorders may occur depending on the processes applied to severe patients.

Physiotherapy and rehabilitation services may not be completed due to limited government support or above-mentioned other reasons. In such a case, irreversible results may occur in the joints of the patient. In addition to this, transportation of patients to treatment centers causes loss of time and increases the density in hospitals.

Traditional physical therapy and rehabilitation methods are insufficient due to the following reasons; cost, subjective evaluation, failure to meet the same conditions in treatment repeatedly, the limited number of physiotherapists and the inability to provide home care services. In addition to all these problems, some patients cannot visit hospitals or the like by leaving their homes for various reasons. In such cases, the patient practices physical therapy movements in his/her own home. However, there is no system that allows a physiotherapist to remotely access the system, in which the patient is connected and examine the exercise results instantly or subsequently. Thus, the accuracy and efficiency of the physical therapy and rehabilitation movements performed by the patients cannot be controlled.

Said situation has revealed the need for a wearable ankle rehabilitation system which has a hardware structure that allows the physical therapy and rehabilitation processes of the ankles of partially or fully paralyzed patients, especially cerebral palsy, to be remotely controlled via an information processing device that is suitable for home care services for the solution of the problems revealed for ankle rehabilitation.

It is observed that ankle rehabilitation robots are generally very heavy and bulky machines when the existing systems are analyzed. These types of heavy mechanisms cannot provide a solution to the transportation problem and cost issue because they cannot be transported. Furthermore, these systems do not offer a comfortable treatment to patients from where they sleep, but they also do not have a method using artificial intelligence methods.

An ankle rehabilitation device is disclosed in the patent document numbered CN105853142A. Said device comprises a support mechanism, a training mechanism and a fixing part. However, here, a method that allows the physical therapy and rehabilitation processes of partially or completely paralyzed patients, especially cerebral palsy, to be controlled remotely via an information processing device is not offered. Patent document numbered KR101661534B1 discloses a device that allows the rehabilitation of a patient with impaired ankle movement. However, the use of methods such as fuzzy logic, advanced artificial neural networks and deep learning is not mentioned in the system disclosed in said patent document.

Patent document numbered US8439854B2 discloses a device used in physical rehabilitation to strengthen leg muscles, calves and the ankle. Therefore, a complex mechanism is disclosed herein, in which said mechanism performs the rehabilitation of the joints other than the ankle through a single device.

Consequently, since the state of the art is insufficient; it is necessary to develop a robotic system and a method thereof, wherein said system is suitable for physical therapy and rehabilitation of patients with partial or complete paralysis, especially cerebral palsy, suitable for home care services with its hardware structure that can be remotely controlled via an internet- based computer in order to solve the problems set forth the ankle rehabilitation.

Objects and Brief Description of the Invention

The object of the present invention is to provide a wearable ankle rehabilitation robot system and a method thereof, wherein said system has a hardware structure that allows the physical therapy and rehabilitation processes of the ankles of partially or fully paralyzed patients, especially cerebral palsy, to be remotely controlled via an information processing device that is suitable for home care services for the solution of the problems revealed for ankle rehabilitation.

Another object of the present invention is to provide a wearable ankle rehabilitation robot system and a method thereof, wherein said robot system is capable of performing various exercises according to the rehabilitation theory by evaluating the data regarding movement exercises obtained by means of a wearable rehabilitation robot that is capable of performing dorsiflexion and plantar flexion movements of the ankle, and allows for improving motor control of patients by means of performing exercises in the form of game-based visual biofeedback.

Yet another object of the present invention is to enable a physiotherapist to attend to the diagnoses and treatments of a plurality of patients at the same time by performing diagnosis and treatment processes with a wearable ankle rehabilitation robot system.

Yet another object of the present invention is to ensure that the workload of physiotherapists is reduced by eliminating the problems such as lack of trained physical therapists and time by means of avoiding the physical problems of physiotherapists that occur when they apply the treatment. Yet another object of the present invention is to ensure that the same exercises may be performed with high accuracy and in a desired frequency in a consecutive manner by avoiding measurement and assessment errors of human origin through having physiotherapy exercises performed by means of a robot.

Yet another object of the present invention is to repeat the exercises performed with the robot as required without depending on human power, and thus to provide that physiotherapists apply more effective physiotherapy service by allocating time to more patients.

Yet another object of the present invention is to provide a system comprising; a wearable ankle rehabilitation robot that allows exercise movements to be performed, a control system module containing an information and rule base with respect to exercise movements, also an interface device, which can be either a data processing device or a mobile device, in which algorithms are operated therein, a database server in which the results of exercise movements are recorded, and system components of an EMG module, from which EMG information regarding the muscles of the users is obtained.

Brief Description of the Figures

Figure 1 illustrates a view of a wearable rehabilitation robot from different angles.

Figure 2 illustrates the components of a wearable ankle rehabilitation robot system in which the inventive method is applied and the interaction therebetween.

Figure 3 illustrates the electronic hardware components of a wearable ankle rehabilitation robot and the interaction therebetween.

Reference Numerals

10. Robot

11 . Motor

12. Motor driver

13. Sensor

14. Real time control card

15. Limit switch

20. Control system module

30. Interface device

40. Database server 50. Emergency module

60. EMG module

Detailed Description of the Invention

The present invention relates to a wearable ankle rehabilitation robot (10) system and a method thereof, wherein said rehabilition robot system has a hardware structure that allows the physical therapy and rehabilitation processes of the ankles of partially or fully paralyzed patients, especially cerebral palsy, to be remotely controlled via interface devices (30) such as mobile devices or data processing devices, which is suitable for home care services.

A wearable ankle rehabilitation robot (10) system has been developed, which is capable of performing ankle dorsiflexion and plantar flexion movements, is adjustable according to the limb size of a person, is able to determine the muscle degree by making artificial intelligence-based evaluation by the exercise modes where measurements are made with EMG and force sensors (13), capable of performing passive stretching, active assisted, active resistance, isometric (fixed ankle joint angle, variable resistance), isotonic (variable ankle joint angle, fixed resistance) and other exercises according to rehabilitation theory by means of the present invention.

A wearable ankle rehabilitation robot (10) is shown in Figure 1 from different angles. Said robot (10) comprises the following; a motor (11) that allows the robot to move, a motor driver circuit (12) connected to the motor (11), a force or torque sensor (13) related to the motion of the robot (10), a real-time control card (14) that allows the movements of the motor (11) to be controlled, limit switches (15) and an emergency button (50). Each movement in the ankle has certain rotation angle limits that differ from person to person. There are maximum passive resistance moments that vary from person to person for each movement. The mechanical design of the robot (10) has been made in accordance with these ranges of motion according to the present invention and the motor (11) connected to the robot (10) is determined to be able to meet the required moment.

The components of a system in which the inventive method is applied and the interaction therebetween are shown in figure 2. As observed in the system; a wearable ankle rehabilitation robot (10) for users comprises; a control system module (20), in which knowledge and rule base regarding exercises and algorithms are executed, an interface device (30) which can be either a data processing device or a mobile device, a database server (40), in which exercise results are recorded and an EMG module (60) from which EMG information is retrieved. In the present invention, the patient using a wearable ankle rehabilitation robot (10) is enabled to perform certain tasks by means of an interface device (30) by receiving visual biofeedback. A specialist transfers the necessary exercise data, parameters and patient information to the control system module (20) by means of said interface device (30). Furthermore, the EMG data regarding the muscles found in the EMG module (60) and the force and position feedback data as a result of the exercise movements are sent from the wearable ankle rehabilitation robot (10) to the control system module (20). A control system is created that allows the necessary exercises to be performed with high accuracy and precision by executing the rule base and algorithms in the control system module (20) according to the obtained data. It is provided that said exercise results coming from the control system module (20) are recorded on a hospital database server (40) by means of internet access of the interface device (30). Thus, exercise data can be controlled remotely by accessing a database server (40) from a different interface device (30).

The inventive system for a wearable ankle rehabilitation robot (10) can operate in appropriate exercise modes according to the recovery stages of the patient and can provide the necessary treatment support to the patient. The appropriate exercise mode can generally be determined according to the movement restrictions of the patient and the experience of the physiotherapist. Generally, the patient begins with passive exercises in the early stages of recovery. Subsequently, active assisted exercise, active exercise and active resistance exercise can be initiated as the recovery is realized. The wearable ankle rehabilitation robot (10) has passive exercise, active exercise and other exercise operating modes.

The joint of the patient is fully moved by the robot (10) in a predetermined motion path without requiring any effort from the patient in the passive exercise. Passive stretching exercise is applied to develop joint range of motion (ROM). The robot (10) follows the path created by the patient, without applying any force, in ideal conditions for the patient to follow the desired path in the active exercise and performance and deviations are recorded in a database (40). These types of exercises are performed by means of an interface device (30), which can be either a data processing device or a mobile device from which the patient can receive visual feedback.

The electronic hardware components of a wearable ankle rehabilitation robot (10) and the interaction therebetween are shown in figure 3. The patient using a wearable ankle rehabilitation robot (10) is enabled to perform certain tasks by receiving visual biofeedback by means of an interface device (30). A specialist transfers the necessary exercise data, parameters and patient information to the control system module (20) by means of said interface device (30). In general, force and position feedback as a result of exercise movements, EMG signals received from the muscles are sent to the control system module (20) from a wearable ankle rehabilitation robot (10). Digital force, position and EMG information of the wearable robot (10) used by the patient receives the control system module (20) from a real-time control card (14). A control system is created that allows the necessary exercises to be performed with high accuracy and precision by determining the rule base and algorithms in the control system module (20) according to the obtained data. The control system module (20) interacts with the real-time control card (14). The rules and algorithms receiving from a control system module (20) are embedded into a real-time control card (14), the data coming from the sensors (13) is evaluated and applied in real time. The real-time control card (14) interacts with the motor driver (12) and allows the motor (11) to be activated and the robot (10) to be moved. The data of an EMG module (60) and force or torque sensor (13) are received in the real-time control card (14). The sensor (13) measures joint resistance and motor driving torque. There are limit switches (15) connected to the robot (10) for safety and it is ensured that the motor (11) is stopped when necessary by means of the interaction between the emergency button (50) and the motor driver (12).

In the present invention, the patient and robot (10) interaction is provided by impedance control. It is adjusted how the robot will react to the interaction with the environment by means of this control. Adaptive impedance control shows a high performance during rehabilitation procedures due to the fact that it is capable of detecting the patient's capacity and adjusting the parameters in a flexible manner. A real-time dynamic relationship is established between the impedance control and the robot (10) position and interaction forces. Therefore, active participation of the patient is provided throughout the exercise. Impedance parameters are updated periodically in the control system module (20) in accordance with the patient's capacity and development since the mobility and energy of the patient change during exercise sessions and duration. While creating rules and algorithms in the control system module (20), artificial intelligence techniques such as artificial neural networks, fuzzy logic or adaptive control are used. Appropriate conventional and/or intelligent algorithms are developed for the simultaneous adaptation of the appropriate parameters according to the patient by using exercise algorithms developed by utilizing the knowledge and experience of experts in the field of rehabilitation by means of utilizing the feedbacks in the system of a wearable ankle rehabilitation robot (10).

First of all, the dynamic equations of the system including the effects of inertia, gravity and friction are created and a dynamic model is created by using these equations so as to test the control algorithms suitable for the system of a wearable ankle rehabilitation robot (10) and to simulate how the movement speed, angle and torque of the robot (10) change according to the change of impedance control parameters. The Equation (1 ) is as follows;

Equation (1 ) includes q joint variables and -ractuator torque for a robot with n degrees of freedom. D term denotes inertia matrix, c term denotes matrix of velocity resultants, h denotes matrix of gravitational effects and b denotes matrix of friction effects. Since the wearable ankle rehabilitation robot (10) has only one degree of freedom, the matrix of joint variables q contains only the variable Q. Thus, only the Q angle variable can be used instead of the q matrix. Accordingly, 0 denotes the joint angle, 9 denotes the angular velocity of the joint, and 9 denotes the angular acceleration of the joint. Furthermore, since robots with one degree of freedom do not have velocity components, the c term, which includes Coriolis and centrifugal forces, is 0. The term D comprises the inertia of the robot mechanism (Imec) and the inertia of the foot placed on it (II), and the inertias of the rotor (l_R) of the motor and the mass of reducer (l_R). While the mechanism is included in the D inertia term, the inertia of the rotor of the motor (11) is multiplied by the square of the total reduction (N) ratio, and the inertia of the reducer of the motor (11) is multiplied by the square of the spur gear reduction ratio (N²). The total reduction ratio N is equal to the multiplication of the motor reduction ratio /V1 and the spur gear reduction ratio N². Accordingly, the inertia term D is obtained as in Equation (2).

The term h denotes the gravitational load torque due to the mechanism (m_mec) and the mass of the patient's foot (m_foot). The distance of the center of mass of the mechanism from the axis of rotation of the joint is expressed as L_mec, and the distance of the center of mass of the foot to the axis of rotation of the joint is expressed as L_foot. b represents the torque shown against the friction based movement. Accordingly, the term h depending on the joint angle is found as in Equation (3).

Therefore, the dynamic equation of the system becomes the same of Equation (4), if Equation (1), which shows the general system dynamics, is arranged and the D and h terms obtained in equations (2) and (3) are used, and the load torque (T_L) made by the patient's foot is included.

Equation (4) is arranged and 9 is left alone so as to create the block diagram of the system. Thus, the equation (5) and the dynamics equation of the robot (10) mechanism are formed.

The robot may be subjected to some limitations and resistances by the patient while performing the specified movements because the rehabilitation robot (10) will be in dynamic interaction with the patient during the exercise tasks. In the meantime, torques may occur that will damage the joint of the patient if the robot (10) does not adjust the angular velocity and torque of the movement according to the resistance and range of motion limitations shown by the patient. For example, when the robot (10) mechanism is required to rotate the ankle joint from 0_O to 01 angle, a patientbased resistance may occur while reaching the 01 angle. If the position control method is used here, the motor (11) applies a higher torque to overcome this resistance and it is possible to damage the joint of the patient. Therefore, it is preferred to use impedance control in robotic systems interacting with the environment and human. The robot (10) mechanism is provided to act as if it were a spring and damping system by using impedance control so as to control this system. Thus, a patient-based resistance encountered during the movement from the 0o angle to the 01 angle, is damped softly and does not damage the joint according to the determined spring and damping parameters. In necessary conditions, position control application of the robot is ensured by increasing the values of the spring and damping parameters. Therefore, it is ensured that the most appropriate movement according to the patient is applied effectively and safely by adjusting the impedance parameters appropriately by means of the control system module (20).

The general equation of a torsion spring with a certain stiffness K is as in Equation (6).

Herein dθ represents the very small angle difference between the desired and instant measured angles. K is the positive definite spring constant and is a measure of the stiffness of the spring. Accordingly, in cases where the torque is required to be controlled, in cases where K parameter is small and the position is desired to be controlled, K parameter is selected large. When the desired position angle is taken as 0_r and the instant measured angle is taken as θ_u, the error equation e in equation (7) is indicated.

The error e in Equation (7) represents dθ in Equation (6). Accordingly, if Equation (6) and (7) are combined, the torque that must be applied to obtain the desired spring stiffness is found as τ = Ke. If the damping effect and gravity effect are included in the formula together with the spring effect, general Equation (8) is obtained for the control.

Herein, C is the positive definite damping constant. h(6) represents the load torque due to gravity.

Said robot (10) can feel and follow the movement of the patient and thus the patient can feel the momentum caused by the weight of the robot (10). Furthermore, deficiencies in the patient's movement of the wearable robot (10) and the incompatibility between the actual ankle position and the target position can be detected. The robot (10) provides supporting torque so as to help the patient complete his/her movement to the desired position by means of a real time control card (14) when necessary. The wearable robot (10) can automatically switch between different control modes according to target and actual positions and ankle movement speed. For example, if the patient will follow a target on the screen for an interface device (30), he/she can move his/her joint freely in the beginning. In the next step, it is determined which control mode will be used depending on the difference between target and actual positions and joint speed. If the patient performs a joint movement at a speed greater than the threshold value, the robot (10) operates in free motion mode. However, if the patient is performing a joint movement at a slower speed than threshold value, it is understood that the patient requires help and active assisted mode shall be used by comparing the joint torque with the predetermined threshold torque value by the real-time control card (14), if the joint torque is lower than said threshold value.

In an example where the inventive system of a wearable ankle rehabilitation robot (10) is used, acute stroke patients can exercise while in bed by means of the interactive games. Thus, they can follow the ankle motion feedback on the interface device (30) screen on a game scenario. These patients can drive a car of can play different games such as hitting a ball. Sounds, background music, colorful graphics provide motivation for the patient to perform better and longer exercises. There are various exercises with game interfaces. A specialist can determine the preliminary parameters for each patient by selecting a desired exercise. The operator can change the ROM, intensity and exercise modes for a more developed rehabilitation. The level of assistance can be adjusted according to the healing degree of the joint. When the mobility of the patient is developed, accordingly the level of assistance can be reduced. If the patient is capable of performing tasks with little assistance or independently, the value of the resistance can be increased gradually and the rehabilitation of the patient can be accelerated by performing resistive exercise. The robot (10) provides the necessary amount of assistance for the patient to reach the desired goal in the active assisted exercise. In other words, if the patient performs insufficient movement or force despite efforts to move his/her foot, the robot (10) will provide an assistive support to the patient. This mode assists in increasing the patient's capability to start the movement. The robot provides supporting torque so as to help the patient complete the movement to the desired position when necessary. In case the patient is capable of reaching the determined target by himself/herself, the robot (10) ensures the muscles of the patient to strengthen and motor control to develop by applying resistance. The robot (10) creates a constant or variable force against the direction of the foot movement of the patient so as to increase muscle tonus and strength in the damaged limb in active resistance exercise, This mode is suitable for patients has increasing level or recovery.

Isotonic, isometric and isokinetic (fixed joint angle change rate, variable resistance) exercise can be given as an example of some additional exercise modes adapted from the exercises performed by physiotherapists. For example, in case the isometric exercise mode is chosen, the robot (10) is kept fixed in a certain position with position-based impedance control. When the patient tries to move his/her foot, this movement is detected precisely by means of the force sensor (13) and the magnitude of the applied torque is indicated in real time on the screen of the interface device (30). Thus, the patient is required to perform certain motor tasks and performance evaluation is made by means of the developed algorithm.

The wearable ankle rehabilitation robot (10) is a portable device with a single degree of freedom mechanism that is capable of performing dorsiflexion or plantar flexion movements. The place where the sole of the foot will step, the parts that the foot will touch and the straps to be used to fix the leg are made of appropriate materials such as soft, plastic and rubber etc. Said robot (10) is suitable for any individual of any age such as child, teenager, woman or man. The freedom axis of the robot (10) and the dorsiflexion or plantar flexion axis of the ankle joint are coincident so as to perform exercises efficiently and accurately measure joint torque values. The sole plate can be adjusted according to the person by moving the same up or down.

The system for a wearable ankle rehabilitation robot (10) is a biomechatronic system which has a single degree of freedom that allows dorsiflexion and plantar flexion movements, comprises an ergonomic robot (10) that is adjustable according to the person, has an easy to use interface that allows measurement and evaluation of exercise movements and recording of said data.

Claims

CLAIMS A wearable ankle rehabilitation robot (10) system, characterized in that, it comprises; a wearable ankle rehabilitation robot (10), which interacts with a control system module (20) and allows movement exercises to be performed, a control system module (20), which interacts with an interface device (30) and enables the operation of the rule base of movement exercises and the execution of algorithms using artificial intelligence methods, an interface device (30) which interacts with a database server (40) and a control system module (20), can be either a data processing device or a mobile device, a database server (40), which interacts with an interface device (30) and allows for recording the results of movement exercises of the users, an EMG module (60) system components interacting with a control system module (20) and keeping EMG information data regarding the muscles of the users. A wearable ankle rehabilitation robot (10) system according to claim 1 , characterized in that; said wearable ankle rehabilitation robot (10) comprises; a motor (11) which interacts with a motor driver (12) circuit and allowing a robot (10) to move, a motor driver (12) that interacts with a real-time control card (14) of said motor (11 ), at least one sensor (13) for the motion of a robot (10) interacting with a real-time control card (14), a real-time control card (14) that interacts with a control system module (20), a motor driver (12), at least one sensor (13) and an EMG module (60) and allows the movements of a motor (11 ) to be controlled, at least one limit switch (15) and an emergency button (50) that interact with a motor driver (12) and utilized in order to provide safety measures. A method for a wearable ankle rehabilitation robot (10) system, characterized in that, it comprises the following process steps; transferring the necessary exercise data, parameters and patient information to the control system module (20) via said interface device (30) by a specialist, sending the EMG signal data regarding muscles contained in an EMG module (60) to a control system module (20), sending force and position feedback data resulting from movement exercises from a wearable ankle rehabilitation robot (10) to a control system module (20), creating rule base and algorithms in a control system module (20) by means of using artificial intelligence methods, sending data of said movement exercises results receiving from a control system module (20) interacting with an interface device (30) to a hospital database server (40), accessing a database server (40) from a different interface device (30). A method for a wearable ankle rehabilitation robot (10) system according to Claim 3, characterized in that, it comprises the following process steps; interacting of a real-time control card (14) of the robot (10) with a control system module (20), embedding rules and algorithms receiving from a control system module (20) into a realtime control card (14), sending data relating to at least one sensor (13) to a real-time control card (14), interacting of a real-time control card (14) with the motor driver (12), sending a signal to a motor (11 ) by means of a motor driver (12), moving a robot (10) by means of a motor (11), receiving the data of an EMG module (60) and sensor (13) to a real-time control card (14), measuring joint resistance and motor driving torque by means of at least one sensor (13), interacting of a motor driver (12) with a limit switch (15) and an emergency button (50) associated with a robot (10). A method for a wearable ankle rehabilitation robot (10) system according to Claim 3, characterized in that; real-time control card (14) of a wearable robot (10) provides a supporting torque so as to assist a patient to complete movement in the position requested by a control system module (20). A method for a wearable ankle rehabilitation robot (10) system according to Claim 3, characterized in that; adaptive impedance control methods are developed in a control system module (20) so as to provide interaction between the user and a wearable ankle rehabilitation robot (10). A method for an ankle rehabilitation robot (10) system according to Claim 3, characterized in that; an interface device (30) is utilized so as to perform exercise movements in the form of game-based visual biofeedback. A method for an ankle rehabilitation robot (10) according to Claim 3, characterized in that, the following equation is used in order to create a robot (10) mechanism dynamic model comprising the effects of inertia, gravity, and friction of the system for the purpose of testing control algorithms in accordance with a wearable ankle rehabilitation robot (10) in a control system module (20) of the system;

A method for an ankle rehabilitation robot (10) system according to Claim 3, characterized in that; the following equation is used for performing a position control of a wearable ankle rehabilitation robot (10) in a control system module (20) of the system;