Compliance adaptation of an intrinsically soft ankle rehabilitation robot driven by pneumatic muscles

Meng, Wei; Liu, Quan; Zhang, Mingming; Ai, Qingsong; Xie, Shane

doi:10.1109/aim.2017.8013999

Cited by 14 publications

(12 citation statements)

References 26 publications

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“…A single actuator can provide movements from 0 • (extension) to 45 • (bending). In 2017, Wei et al proposed and evaluated a rehabilitation robot for soft ankle joint (Figure 4b) [71]. The rehabilitation device is driven by four parallel pneumatic muscles and enables three rotational degrees of freedom.…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

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Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

“…A novel control strategy based on impedance control model is introduced in [71], and the amount of assistance is changed by modifying the parameters of the impedance model. The proposed scheme improves the flexibility control scheme of the flexible actuator by adjusting the stiffness of the actuator.…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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“…Stiffness of a PMA can be regarded as the output force caused by unit changes of its length, which is adjustable (Meng et al, 2017b ), so the robot inherent compliance can be adapted and this section will investigate how. Modeling of the robot with PMAs was a challenging task as the PMAs exhibit highly nonlinear and dynamic behaviors.…”

Section: Hierarchical Compliance Controllermentioning

confidence: 99%

“…51705381, 51675389, and 51475342. Part of this manuscript is extended from Meng et al ( 2017b ), a conference proceeding presented by the authors at the 2017 IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, with copyright permission from IEEE.…”

mentioning

confidence: 99%

Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

Liu

Meng

et al. 2017

Front. Neurorobot.

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Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

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“…With the emerging progress of robotic technologies, the equipment for ankle rehabilitation training has been established, including manual rehabilitation aids based on parallel mechanisms [6], pneumatic‐based parallel robot‐assisted rehabilitation training devices [7–9], and parallel rehabilitation robot based on linear motor drive [10]. At the same time, researchers around the world have also developed wearable ankle rehabilitation‐assisted robots [11, 12].…”

Section: Introductionmentioning

confidence: 99%