Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

Satici, Aykut C.; Erdoğan, Ahmetcan; Patoğlu, Volkan

doi:10.1109/icorr.2009.5209513

Cited by 35 publications

(28 citation statements)

References 21 publications

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“…This paper significantly extends authors' previous works Satici et al 2009), by presenting (i) the design and integration of Bowden-cable driven SEAs, (ii) implementation and characterization of passive force/impedance controllers, (iii) testing of a fully functional prototype, and (iv) case studies with health volunteers demonstrating the feasibility of the exoskeleton under both operation modes.…”

Section: Robot-assisted Ankle Rehabilitationmentioning

confidence: 87%

“…Modeling/identification of human ankle parameters is challenging and and errors in this model will confound the characterization results of AssistOnAnkle in 3UPS mode. Readers may refer to Satici et al (2009) for utilization of AssistOn-Ankle for the identification of ankle stiffness when the device is in the 3UPS mode.…”

Section: Characterization and User Evaluationmentioning

confidence: 99%

“…Readers may refer to Satici et al (2009) for the derivation of the forward and inverse kinematic solution of the combined 3UPS-RR mechanism. The 3UPS-RR configuration is useful for RoM/ strengthening exercises; however, this kinematic structure is not ideal for balance/proprioception exercises, since the forces/torques transferred to the ankle joint cannot be supported.…”

Section: Kinematics Of Assiston-anklementioning

confidence: 99%

“…Rehabilitation of ankle injuries is typically addressed in three sequential phases (Mattacola and Dwyer 2002;Yoon et al 2006;Satici et al 2009): The early phase focuses on enabling the full RoM of the joint and strengthening the ankle muscles. The intermediate phase emphasizes the enhancement of proprioception ability through the use of static balance exercises and is initiated once the required RoM and flexibility are achieved and the muscles become strong enough to bear partial weight.…”

Section: Introductionmentioning

confidence: 99%

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Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

et al. 2016

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We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOnAnkle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/ proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device. This is one of several papers published in Autonomous Robots comprising the "Special Issue on Assistive and Rehabilitation Robotics". B Volkan Patoglu

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Section: Robot-assisted Ankle Rehabilitationmentioning

confidence: 87%

Section: Characterization and User Evaluationmentioning

confidence: 99%

Section: Kinematics Of Assiston-anklementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

et al. 2016

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“…Active foot ortheses are an evolution of the traditional passive orthoses for lower limbs, with additional capabilities for obtaing the appropriate dynamics of the gait to be rehabilitated [16]. Some examples are: Interactive Motion [17]; KAFO [18] and SUkorpion AR [19].…”

Section: Introductionmentioning

confidence: 99%

Model and control of the ELLTIO with two degrees of freedom

López

Aguilar-Sierra

Salazar

et al. 2013

2013 17th International Conference on System Theory, Control and Computing (ICSTCC)

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Exoskeletons are robots attached for the extremities of the human body focused on increasing their strength, speed and performance primarily. The main applications are in the military, industry and medicine. The exoskeleton used in the rehabilitation of limbs because of accident or illness that cause little muscle activity or null. The ELLTIO (Exoskeleton for Lower Limb Training with Instrumented Orthoses) is an exoskeleton of two degrees of freedom for rehabilitation in ankle and knee. The design and manufacture of the exoskeleton is based on the instrumentation of a right lower limb orthoses. The exoskeleton contains sensors to estimate the force produced by a human and are incorporated in the SEA actuators (Serial ElasticsActuators) to amplify the human force. Moreover contains sensors to estimate the angular position and velocity in joints to control the movement of the leg. The goal of this paper is the design of a PD control with gravity compensation based to dynamic model of experimental prototype. The prototype can be increased or decreased the human force as needed in different exercises, this will allow the user an evolutionary improvement to achieve a full rehabilitation as possible.

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Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction

Otaran

Farkhatdinov

2019

Towards Autonomous Robotic Systems

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We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.

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Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

Cited by 35 publications

References 21 publications

Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

Model and control of the ELLTIO with two degrees of freedom

Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction

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