3 UPS Parallel Mechanism for Passive Rehabilitation of Lateral Ankle Sprains in Ball Sport Athletes (#1089)

Authors

Gonzalez, Dario

Huamanchahua, Deyby

Abstract

This work focuses on designing and developing a 3-UPS parallel mechanism for passive rehabilitation of lateral ankle sprains in ball sport athletes. The study analyzes the high incidence of this musculoskeletal injury and its functional and social impact. The proposed mechanism seeks to accurately replicate the physiological movements of the ankle through the integration of advanced inverse kinematics methods and screw theory. The required ranges of motion were defined to ensure adequate recovery, prioritizing the safety and effectiveness of the device. Additionally, the singularities and workspace of the mechanism were explored to optimize its performance and avoid critical configurations. The results highlight the mechanism's ability to meet the physiological ranges of the ankle, its portability requirements, and the necessary structural robustness. This development provides an accessible and efficient solution to enhance rehabilitation and prevent future complications, such as chronic instability.