Research Status on Ankle Rehabilitation Robot

Jiang, Jingang; Min, Zhaowei; Huang, Zhiyuan; Ma, Xikui; Chen, Yi-Hao; Yu, Xiaoyang

doi:10.2174/2212797612666190524104033

Cited by 8 publications

(6 citation statements)

References 58 publications

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“…A general summary of the latest ankle rehabilitation robots and their properties and structural types has been presented in ref. [1][2][3].…”

Section: Introduction 1ankle Rehabilitation Devices and Matching The ...mentioning

confidence: 99%

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

Ahmadi N,

Kamali Eigoli,

Taghvaeipour

2024

Robotica

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This research offers an adaptive model-based methodology for autonomous control of 3-RRR spherical parallel manipulator (RSPM) based on a novel modeling framework. RSPM is an overconstrained parallel mechanism that has a variety of applications in medical procedures such as ankle rehabilitation because of its precision and accuracy. However, obtaining a complete explicit dynamic model of these mechanisms for tracking purposes has been a problematic challenge due to their inherent singularities, coupling effects of the limbs, and redundant constraints imposed by the intermediate joints. This paper presents a novel algorithm to obtain the analytical kinematic solutions of RSPMs based on the closed-loop vector method, which includes constraint analysis. By incorporating constrained kinematics into the dynamic model, a comprehensive explicit dynamic solution of the non-overconstrained version 3-RCC of RSPM is developed in task space, based on screw theory and the linear homogeneous property of algebraic equations on the manipulator twist. Based on the proposed computational framework, a robust self-tuning backstepping control (STBC) strategy is applied to the robot to overcome the effect of external disturbances and time-varying uncertainties. Furthermore, an observer-based compensation (OBC) method is presented for dealing with the nonlinear hysteresis loops of the ankle during trajectory tracking purposes. The closed-loop stability of the whole system including STBC and OBC is theoretically performed by Lyapunov methods. The proposed methodologies are validated by realistic co-simulations in different scenarios. For instant, in the presence of external disturbances, the maximum tracking error norm of STBC is 37.5% less than the sliding mode approach.

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“…A general summary of the latest ankle rehabilitation robots and their properties and structural types has been presented in ref. [1][2][3].…”

Section: Introduction 1ankle Rehabilitation Devices and Matching The ...mentioning

confidence: 99%

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

Ahmadi N,

Kamali Eigoli,

Taghvaeipour

2024

Robotica

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“…With the deep integration of rehabilitation medicine and robotics, various models of ankle joint rehabilitation robots have been designed. Typically, ankle joint rehabilitation robots can be divided into two types: wearable and platformbased [8,9]. Zhang et al [10] designed a parallel ankle rehabilitation robot with three rotational degrees of freedom, driven by stepper motors.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Supine Ankle Rehabilitation Robot for Early Stroke Recovery

Meng,

Liu,

et al. 2023

Machines

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Existing ankle rehabilitation robots are large, difficult to move, and mostly designed for seated use, which cannot meet the early bedridden rehabilitation goals of stroke patients. To address these issues, a supine ankle rehabilitation robot (S-ARR) specifically designed for early bedridden rehabilitation of stroke patients has been proposed. The S-ARR is designed to be easily movable and adaptable to different heights. It features a variable workspace with mechanical limiters at the rotating joints. A kinematic model has been constructed, and the kinematic simulation of the S-ARR has been analyzed. A control system scheme for the S-ARR has been proposed. Additionally, experiments have been conducted on the prototype to measure joint range of motion and perform rehabilitation exercises. The simulation and experimental results demonstrate that the S-ARR has a feasible workspace and a relatively smooth motion process, enabling it to achieve supine ankle rehabilitation training. This indicates that the design of the supine ankle rehabilitation robot is reasonable, capable of meeting the requirements for ankle joint rehabilitation training, and has practical utility.

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“…Ankle rehabilitation robots have extensive applications in the field of rehabilitation medicine, including but not limited to ankle injury rehabilitation, athlete rehabilitation, and elderly population rehabilitation, among other application contexts. Traditionally, ankle rehabilitation robots can be categorized into two main types: wearable and platform-based systems (Jiang et al, 2019;Li et al, 2020). Platform-based ankle rehabilitation robots are fixed devices consisting of a base and a footplate.…”

Section: Introductionmentioning

confidence: 99%

A multi-degree-of-freedom reconfigurable ankle rehabilitation robot with adjustable workspace for post-stroke lower limb ankle rehabilitation

Meng,

Liu,

et al. 2023

Front. Bioeng. Biotechnol.

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Introduction: A multi-degree-of-freedom ankle rehabilitation robot with an adjustable workspace has been designed to facilitate ankle joint rehabilitation training. It features a rotation center adapted to the human body, making it suitable for patients with ankle dysfunction following a stroke.Method: In this study, a multi-degree-of-freedom reconfigurable ankle rehabilitation robot (RARR) with adaptable features, based on the principles of ergonomics, has been proposed to cater to the varying needs of patients. This robot offers an adjustable workspace, allowing for different types of ankle joint rehabilitation exercises to be performed. By adjusting the assembly of the RARR, personalized and targeted training can be provided to patients, circumventing issues of redundancy in degrees of freedom during its use. A kinematic model of the robot has been established, and finite element simulation has been employed to analyze the strength of critical components, ensuring the safety of the robot. An experimental platform has been set up to assess the smoothness of the rehabilitation process with RARR, with angle measurements conducted using an Inertial Measurement Unit (IMU).Results and discussion: In conclusion, both simulation and experimental results demonstrate that the robot offers an adjustable workspace and exhibits relatively smooth motion, thereby confirming the safety and effectiveness of the robot. These outcomes align with the intended design goals, facilitating ankle joint rehabilitation and advancing the field of reconfigurable robotics. The RARR boasts a compact structure and portability, making it suitable for various usage scenarios. It is easily deployable for at-home use by patients and holds practical application value for wider adoption in rehabilitation settings.

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Research Status on Ankle Rehabilitation Robot

Cited by 8 publications

References 58 publications

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

Design and Analysis of a Supine Ankle Rehabilitation Robot for Early Stroke Recovery

A multi-degree-of-freedom reconfigurable ankle rehabilitation robot with adjustable workspace for post-stroke lower limb ankle rehabilitation

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