Inverse kinematics-stewart platform actuated by shape memory alloy for immobilization of ankle-foot rehabilitation

In this paper, the analyses results on the behavior of Shape Memory Alloy (SMA) in Medical application were carried out. SMA materials are known by their aptitude to recover its original form when undergone suitable thermal changes. SMA is widely used in robotics, automotive, aerospace and it can be a potential application in biomedical engineering due to its low cost, high corrosion resistance and can be easily integrated with human applications. Stewart platform with two different upper platform diameters of 150 mm and 300 mm were designed, fabricated and used as experimental test-rig. Inverse kinematic calculations were carried out to identify a maximum deflection of Stewart platform that can promote continuous passive motion (CPM). The 150 mm base diameter Stewart platform is found to be the suited for generating substantial displacement between ankle and foot. The mechanical changes induced by the heat could be used as a property in manufacturing of rehabilitation device for foot and ankle. Copy; 2017 Trans Tech Publications, Switzerland.