Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot

Li, Yang; Yao, Ligang

doi:10.1007/978-3-319-23327-7_49

Cited by 5 publications

(1 citation statement)

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“…The effectiveness of the proposed passive rehabilitation training strategy was verified by multi-body simulation. Yao Lizang et al [10][11] proposed a 3PH-R hybrid rehabilitation robot, which was based on the chapter motion principle and combined with the biomechanical software AnyBody to plan the rehabilitation trajectory, and achieved the compound motion of plantar dorsiflexion and internal and external rotation on the proposed rehabilitation mechanism, and met the rehabilitation safety requirements. In summary, through passive rehabilitation, the patient's movement has improved and a certain rehabilitation effect can be achieved.…”

Section: Ankle Active Rehabilitation Based On Intent Recognitionmentioning

confidence: 99%

Ankle active rehabilitation based on Intent recognition

Tian

Dong

et al. 2023

Preprint

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Aiming at the problem that most of the current ankle rehabilitation robots lack active patient participation, this paper proposes an intention-aware ankle active rehabilitation method. A plantar pressure sensor on the 2-SPU/RR ankle robot collects pressure data and uses an support vector machine(SVM) classifier to process the data to sense the patient's movement intention, using principal component analysis to reduce the dimensionality in order to improve the speed of classification recognition. In the first step, the rehabilitation trajectory is predefined with reference to the physician's treatment advice. In the second step, active following movement guided by movement intention is achieved based on plantar pressure, and the patient's active trajectory data is recorded. In the third step, a rehabilitation evaluation model is established through the trajectory deviation data and other indicators to objectively assess the participants' ankle rehabilitation status and provide theoretical reference for the physicians' diagnosis. The experimental results showed that the proposed ankle active rehabilitation strategy was effective, and the rehabilitation evaluation model quantitatively analysed the participants' ankle functional status based on the recorded indexes, which provided a reference for the formulation of the next step of rehabilitation training.

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Section: Ankle Active Rehabilitation Based On Intent Recognitionmentioning

confidence: 99%