Design, Modeling and Control of an Ankle Rehabilitation Robot

Adaptive Patient-Cooperative Control of a Compliant Ankle Rehabilitation Robot (CARR) With Enhanced Training Safety

“…Two types of ankle robots are wearable devices such as the MIT Anklebot [1] and the bio-inspired soft ankle robot [2], and platform ones [3][4][5][6][7]. Zhang, et al [8] systematically reviewed a variety of ankle rehabilitation devices and demonstrated that robot-assisted rehabilitation techniques are effective in reducing ankle impairments.…”

“…The single-DOF one is generally actuated by a rotating motor [3], while multi-DOF ones are usually based on parallel mechanisms [4][5][6][7]. Further, the parallel robot whose actuators locate below its end effector has a misaligned rotation centre with the ankle joint [6,7].…”

A Preliminary Study on Robot-Assisted Ankle Rehabilitation for the Treatment of Drop Foot

“…Each device has a fixed platform and a moving one [22][23][24][25][26]. While Zhang et al [27] demonstrated the effectiveness of existing rehabilitation robots in reducing ankle impairments caused by neurological injuries, most of them suffer from a variety of limitations when used for the treatment of drop foot.…”

“…Zhang et al [22] developed a single-DOF ankle robot for joint stretching and its efficacy has been demonstrated on patients with spasticity or contracture. Two parallel robots developed in The University of Auckland [23,24] have not been clinically evaluated.…”

“…This robot has been significantly improved with respect to previous prototypes [23,24], and its advantages include the use of compliant actuators, three DOFs for three-dimensional ankle training, and high actuation torque when used for joint stretching and muscle strengthening. These features make its applications more extensive with respect to other ankle rehabilitation robots.…”