Internal Model Control and Experimental Study of Ankle Rehabilitation Robot

Wang, Lan; Chang, Ying; Zhu, Haizhou

doi:10.1017/s0263574719001188

Cited by 12 publications

(4 citation statements)

References 32 publications

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“…One of the first robots was a Stewart platform [64], which is a rigid robot with 6 DoF. Other examples are a 3-RUS/RRR [65], a redundantly actuated mechanism [66], a 3-prismatic-revolute-spherical ankle rehabilitation robot [67], a 3-PRS Parallel Robot [68], a 2-UPS/RRR ankle rehabilitation [69], a nonredundant parallel robot [70], a2-dof turntable [71], and a 2PSS platform [72]. Another approach is the use of pneumatic actuators configured as a 2-SPS Mechanism [73] and pneumatic artificial muscles [74][75][76].…”

Section: Related Workmentioning

confidence: 99%

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera Fernández

2023

Preprint

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present cable-driven reconfigurable robot kinematics and statics. We studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Likewise, we propose a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporate a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We reconfigure the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Likewise, we also computed the workspace to show that the reconfigurable design fits several sizes. The data used is from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators.

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Section: Related Workmentioning

confidence: 99%

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera Fernández

2023

Preprint

View full text Add to dashboard Cite

show abstract

Section: Related Workmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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“…Regarding clinical validation, Chen et al [30] conducted a clinical study on a homebased AJ RR with 24 stroke patients and found that the robot was effective in improving the patients' ankle range of motion and gait performance; Li et al [31] conducted a randomized controlled trial on a home-based AJ RR with 60 ankle sprain patients and found that the robot-assisted rehabilitation group had better ankle function than the control group; and Wang et al [32] conducted a pilot study on a home-based AJ RR with 12 ankle sprain patients and found that the robot was effective in improving the patients' ankle strength and range of motion.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Testing of an Ankle Rehabilitation Robot

2023

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The ankle joint (AJ) is a crucial joint in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, and running. Ankle joint injuries can occur due to sudden twists or turns, leading to ligament sprains, strains, fractures, and dislocations that can cause pain, swelling, and limited mobility. When AJ trauma occurs, joint instability happens, causing mobility limitations or even a loss of joint mobility, and rehabilitation therapy is necessary. AJ rehabilitation is critical for those recovering from ankle injuries to regain strength, stability, and function. Common rehabilitation methods include rest, ice, compression, and elevation (RICE), physical therapy, ankle braces, and exercises to strengthen the surrounding muscles. Traditional rehabilitation therapies are limited and require constant presence from a therapist, but technological advancements offer new ways to fully recover from an injury. In recent decades there has been an upswing in research on robotics, specifically regarding rehabilitation. Robotic platforms (RbPs) offer several advantages for AJ rehabilitation assistance, including customized training programs, real-time feedback, improved performance monitoring, and increased patient engagement. These platforms use advanced technologies such as sensors, actuators, and virtual reality to help patients recover quicker and more efficiently. Furthermore, RbPs can provide a safe and controlled environment for patients who need to rebuild their strength and mobility. They can enable patients to focus on specific areas of weakness or instability and provide targeted training for faster recovery and reduced risk of re-injury. Unfortunately, high costs make it difficult to implement these systems in recuperative institutions, and the need for low-cost platforms is apparent. While different systems are currently being used, none of them fully satisfy patient needs or they lack technical problems. This paper addresses the conception, development, and implementation of rehabilitation platforms (RPs) that are adaptable to patients’ needs by presenting different design solutions (DSs) of ankle RPs, mathematical modeling, and simulations of a selected rehabilitation platform (RP) currently under development. In addition, some results from practical tests of the first prototype of this RP are presented. One patient voluntarily agreed to use this platform for more rehabilitation sessions on her AJ (right leg). To counteract some drawbacks of the first prototype, some improvements in the RP design have been proposed. The results on testing the improved prototype will be the subject of future work.

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Internal Model Control and Experimental Study of Ankle Rehabilitation Robot

Cited by 12 publications

References 32 publications

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Design and Experimental Testing of an Ankle Rehabilitation Robot

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