Position versus force control: Using the 2-DOF robotic ankle trainer to assess ankle's motor control

Farjadian, Amir B.; Nabian, Mohsen; Hartman, Amber; Corsino, Johnathan; Mavroidis, Constantinos; Holden, Maureen K.

doi:10.1109/embc.2014.6943808

Cited by 14 publications

(10 citation statements)

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“…The ankle's role in independent living as well as complex neuromechanical properties of this joint turns the neuro‐rehabilitation of the injuries into a high priority and at the same time a challenging task. This has led to numerous motor neurophysiology studies (Goto et al., ) and, in recent years, to the development of novel rehabilitation technologies (Deutsch, Latonio, Burdea, & Boian, ; Farjadian, Nabian, Hartman, & Yen, ; Farjadian, Nabian, Hartman, et al., ; Farjadian, Nabian, Mavroidis, & Holden, ). While the advances in robotics and automation are providing more efficient and objective rehabilitation experience, they can best be utilized by further understanding of the motor control characteristics of the ankle during interaction with the external environment.…”

Section: Introductionmentioning

confidence: 99%

Visuomotor control of ankle joint using position vs. force

Farjadian

Nabian

Hartman

et al. 2019

Eur J of Neuroscience

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Ankle joint plays a critical role in daily activities involving interactions with environment using force and position control. Neuromechanical dysfunctions (e.g., due to stroke or brain injury), therefore, have a major impact on individuals’ quality of life. The effective design of neuro‐rehabilitation protocols for robotic rehabilitation platforms relies on understanding the control characteristics of the ankle joint in interaction with external environment using force and position, as the findings in upper limb may not be generalizable to the lower limb. This study aimed to characterize the skilled performance of ankle joint in visuomotor position and force control. A two‐degree‐of‐freedom (DOF) robotic footplate was used to measure individuals’ force and position. Healthy individuals (n = 27) used ankle force or position for point‐to‐point and tracking control tasks in 1‐DOF and 2‐DOF virtual game environments. Subjects’ performance was quantified as a function of accuracy and completion time. In contrast to comparable performance in 1‐DOF control tasks, the performance in 2‐DOF tasks was different and had characteristic patterns in the position and force conditions, with a significantly better performance for position. Subjective questionnaires on the perceived difficulty matched the objective experimental results, suggesting that the poor performance in force control was not due to experimental set‐up or fatigue but can be attributed to the different levels of challenge needed in neural control. It is inferred that in visuomotor coordination, the neuromuscular specialization of ankle provides better control over position rather than force. These findings can inform the design of neuro‐rehabilitation platforms, selection of effective tasks and therapeutic protocols.

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Section: Introductionmentioning

confidence: 99%

Visuomotor control of ankle joint using position vs. force

Farjadian

Nabian

Hartman

et al. 2019

Eur J of Neuroscience

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“…Ankle robots can provide accurate and uniform rehabilitation exercises in a long-time session of the training, the difficulty of which can be adaptively modified based on real-time feedback of therapeutic effects [ 10 ]. Also, the use of robot-assisted ankle rehabilitation technique allows for real-time data collection throughout the training, to further judge the accuracy of the training [ 5 ], evaluate the biomechanical properties of ankle joints [ 11 , 12 ], assess the performance of motion ability of ankle joints [ 10 , 13 ], and customize future therapies [ 14 ]. Ankle robots can be classified to two kinds, one of which is wearable ankle robots applied to improve gait and locomotor ability, and the other of which is platform-based robots applied in a sitting position to enhance physical function and motion ability of ankle joints [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Zeng

Zhu

Zhang

et al. 2018

Journal of Healthcare Engineering

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Objective This review aims to provide a systematical investigation of clinical effectiveness of active training strategies applied in platform-based ankle robots. Method English-language studies published from Jan 1980 to Aug 2017 were searched from four databases using key words of “Ankle∗” AND “Robot∗” AND “Effect∗ OR Improv∗ OR Increas∗.” Following an initial screening, three rounds of discrimination were successively conducted based on the title, the abstract, and the full paper. Result A total of 21 studies were selected with 311 patients involved; of them, 13 studies applied a single group while another eight studies used different groups for comparison to verify the therapeutic effect. Virtual-reality (VR) game training was applied in 19 studies, while two studies used proprioceptive neuromuscular facilitation (PNF) training. Conclusion Active training techniques delivered by platform ankle rehabilitation robots have been demonstrated with great potential for clinical applications. Training strategies are mostly combined with one another by considering rehabilitation schemes and motion ability of ankle joints. VR game environment has been commonly used with active ankle training. Bioelectrical signals integrated with VR game training can implement intelligent identification of movement intention and assessment. These further provide the foundation for advanced interactive training strategies that can lead to enhanced training safety and confidence for patients and better treatment efficacy.

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“…This has led to numerous motor neurophysiology studies (Goto et al, 2014), and in recent years, to the development of novel rehabilitation technologies (Deutsch et al, 2001;Farjadian, Nabian, Hartman, et al, 2014;Farjadian et al, 2015Farjadian et al, , 2017. While the advances in robotics and automation are providing more efficient and objective rehabilitation experience, they can best be utilized by further understanding of the motor control characteristics of the ankle during interaction with the external environment.…”

Section: Introductionmentioning

confidence: 99%

Visuomotor Control of Ankle Joint using Position vs. Force

Farjadian

Nabian

Hartman

et al. 2018

Preprint

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Ankle joint plays a critical role in daily activities involving interactions with environment using force and position control. Neuromechanical dysfunctions (e.g. due to stroke or brain injury), therefore, have a major impact on individuals' quality of life. The effective design of neurorehabilitation protocols for robotic rehabilitation platforms, relies on understanding the control characteristics of the ankle joint in interaction with external environment using force and position. This is particularly of interest since the findings in upper-limb may not be generalizable to the lower-limb. This study aimed to characterize the skilled performance of ankle joint in visuomotor position and force control. A 2-degree of freedom (DOF) robotic footplate was used to measure individuals' force and position. Healthy individuals (n = 27) used ankle force or position for point-to-point and tracking control tasks in 1-DOF and 2-DOF virtual game environments. Subjects' performance was quantified as a function of accuracy and completion time. While the performance measures in 1-DOF control tasks were comparable, the subjects' performance in 2-DOF tasks was significantly better with position control. Subjective questionnaires on the perceived difficulty matched the objective experimental results; suggesting that the poor performance in force control was not due to experimental setup or fatigue but can be attributed to the different levels of challenge needed in neural control. It is inferred that in visuomotor coordination, the neuromuscular specialization of ankle provides better control over position rather than force. These findings can inform the design of neuro-rehabilitation platforms, selection of effective tasks, and therapeutic protocols. Farjadian et al., Visuomotor Control of Ankle: Position vs. Force

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Position versus force control: Using the 2-DOF robotic ankle trainer to assess ankle's motor control

Cited by 14 publications

References 9 publications

Visuomotor control of ankle joint using position vs. force

Visuomotor control of ankle joint using position vs. force

Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots

Visuomotor Control of Ankle Joint using Position vs. Force

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