Design and Kinematics Simulation of Parallel Robots for Ankle Rehabilitation

Liu, Gengqian; Gao, Jinlian; Yue, Hong; Zhang, Xiaojun; Lu, Guangda

doi:10.1109/icma.2006.257780

Cited by 34 publications

(15 citation statements)

References 5 publications

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“…This means that the manipulator will effectively act as an exoskeleton for the lower leg, where the actual ankle will form part of the robot kinematic constraint, thus allowing only motion which is permissible by the ankle anatomy of the patient. This configuration is rather different compared with most ankle rehabilitation devices proposed by other researchers where only the foot is attached to the end effector platform but not the lower leg (Girone et al, 2001;Liu et al, 2006;Yoon et al, 2006). For some devices, this means that the foot will be forced to rotate about a centre which is different from that of the actual ankle.…”

Section: Discussion Of the Designmentioning

confidence: 87%

Design and control of a parallel robot for ankle rehabilitation

Tsoi

Xie

2010

IJISTA

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The use of robots in rehabilitation, particularly for physical therapy has the potential to bring about various benefits including reduction of physical workload of physiotherapists and improved repeatability. A three degree of freedom parallel robot is proposed in this paper to accommodate range of motion (ROM) and muscle strengthening exercises for ankle rehabilitation. Singularity analysis of the design revealed that a redundantly actuated robot is required to avoid singularity in the workspace. Kinematic parameters of the robot were selected so that the available workspace could closely match the available ankle ROM. An impedance control scheme has been utilised to allow control of both force and motion to ensure safety of the patient. The redundant actuation degree of freedom is exploited to regulate the vertical reaction force at the ankle.

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Section: Discussion Of the Designmentioning

confidence: 87%

Design and control of a parallel robot for ankle rehabilitation

Tsoi

Xie

2010

IJISTA

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“…1. The design of this robot is rather distinct compared to many previously developed devices [1] in the sense that the patient's lower limb actually forms part of the robot kinematical constraint. This has the effect of allowing only anatomically correct motion while also ensuring that the position of the patient's ankle will remain constant during the exercises to permit more precise control of forces and moments applied to it.…”

Section: Design Of Ankle Rehabilitation Robotmentioning

confidence: 97%

“…By considering the robot as a manipulator with three degrees of freedom, the dynamics of the manipulator can be described by (1), where Θ is the task space variable in XYZ Euler angles, M is the inertia matrix, N is the summation of all the centripetal, Coriolis and gravitational forces, τ Θ,ext is the patient-robot interaction moment in task space coordinates, J is the manipulator Jacobian relating the actuator velocities, l ɺ to task space velocities through (2) and F the compressive forces applied at each actuator.…”

Section: Computed Torque Impedance Controlmentioning

confidence: 99%

“…Appropriate rehabilitative treatment must be applied to patients suffering from ankle sprains to ensure complete recovery and prevent recurrent sprains. The treatment regime for ankle sprains involves range of motion (ROM) exercises, muscle strengthening exercises and proprioceptive or balancing exercises [1,2]. Impedance control in particular is very commonly used in the area of rehabilitation [5,7,8].…”

Section: Introductionmentioning

confidence: 99%

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Variable Impedance Control of a Parallel Robot for Ankle Rehabilitation

Xie¹,

Tsoi²

2013

Nature-Inspired Mobile Robotics

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This paper proposes a novel variable impedance controller for a redundantly actuated parallel robot to allow execution of passive ankle rehabilitation exercises while taking into consideration of human biomechanics online. By using a biomechanical model of the human ankle which describes the kinematics and dynamics of the ankle foot structure, the kinematic parameters of the ankle can be estimated online to allow identification of the constrained direction of motion. Impedance adjustment heuristics were also formed by investigating the ankle stiffness over a range of joint displacements through the use of the ankle model developed. The variable impedance controller can prevent application of excessive actuator forces which could threaten the safety of the patient.

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“…There are also examples where robots are used to facilitate rehabilitation for musculoskeletal injuries such as ankle sprains [5][6][7]. Due to the nature of rehabilitation tasks, both the position/orientation of the robot and the robot-patient interaction forces must be controlled to allow effective execution of the rehabilitation exercises.…”

Section: Introductionmentioning

confidence: 99%

Joint force control of parallel robot for ankle rehabilitation

Tsoi

Xie

Mallinson

2009

2009 IEEE International Conference on Control and Automation

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Impedance control is a common interaction control strategy used in rehabilitation robots. A joint force controller has been developed for a redundantly actuated parallel robot to facilitate force based impedance control. The proposed controller utilizes only position/orientation dependent information and therefore does not require accurate dynamic modeling and measurement of velocity quantities. The proposed controller uses a disturbance observer based approach and is designed for situations where the external forces applied on the robot are dominant compared to the inertial terms in the robot dynamics. Since the robot used is redundantly actuated, control of forces along the null space of the manipulator Jacobian transpose was also considered. Rationale behind the structure of the controller is developed throughout the paper and experimental results are also presented.

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Design and Kinematics Simulation of Parallel Robots for Ankle Rehabilitation

Cited by 34 publications

References 5 publications

Design and control of a parallel robot for ankle rehabilitation

Design and control of a parallel robot for ankle rehabilitation

Variable Impedance Control of a Parallel Robot for Ankle Rehabilitation

Joint force control of parallel robot for ankle rehabilitation

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