Design and Development of Ankle-Foot Rehabilitation Exerciser (AFRE) System Using Pneumatic Actuator


  • Khairuddin Osman Department of Industrial Electronics, Faculty of Electronic and Computer Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Ahmad 'Athif Mohd Faudzi Centre for Artificial Intelligent and Robotics, Universiti Teknologi Malaysia, 81310 Skudai, Johor Bahru, Malaysia.
  • M.F. Rahmat Department of Control and Mechatronics Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor Bahru, Malaysia.
  • Chai Chang Kai Department of Control and Mechatronics Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor Bahru, Malaysia.
  • Koichi Suzumori Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan.


Intelligent Pneumatic Actuator (IPA), AnkleFoot Rehabilitation Exerciser (AFRE), Predictive Functional Control (PFC),


This research presents the design and development of a novel strategy for an Ankle-Foot Rehabilitation Exerciser (AFRE) system. AFRE system can be used Continuous Passive Motion (CPM) device and strength endurance training device for early stage functional rehabilitation. The designed mechanism can allow desired maximum and minimum Range of Motion (ROM) for dorsiflexion and plantar flexion (upwards and downwards stretching). This device consists of a new moveable mechanism design prototype using a new double acting Intelligent Pneumatic Actuator (IPA), embedded controller and communication protocol. The drive system consists of a nonlinear moving pneumatic actuator that controls the angle position, force and compliance for stiffness characteristic of the ankle-foot orthosis platform. In addition, the device can be configured through MATLAB via personal computer where the user can adjust the required ROM and resistance for the user in real-time. Analysis carried out during the system validation and testing through selected subjects are presented and discussed. This AFRE system is expected to substitute the traditional therapy and motorized rehabilitation device to increase the healing time of the patient specifically.


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How to Cite

Osman, K., Mohd Faudzi, A. ’Athif, Rahmat, M., Kai, C. C., & Suzumori, K. (2018). Design and Development of Ankle-Foot Rehabilitation Exerciser (AFRE) System Using Pneumatic Actuator. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(2-8), 137–143. Retrieved from