TY - GEN
T1 - Development of a 3 freedom ankle robot to assist the rehabilitation training
AU - Li, Weiguang
AU - Sun, Tongyang
AU - Wang, Chunbao
AU - Duan, Lihong
AU - Liu, Quanquan
AU - Shen, Yajing
AU - Shi, Qing
AU - Li, Meng
AU - Wang, Yulong
AU - Long, Jianjun
AU - Wei, Jianjun
AU - Wu, Zhengzhi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/24
Y1 - 2017/1/24
N2 - With the developments of robotics, more and more rehabilitation robots are used to assist traditional training in rehabilitation field. In this paper, a novel ankle robot combined with 3 degrees of freedom, full fill passive-Active training, subjective awareness and objective training requirements was proposed. The requirement of ankle robot was analyzed based on the ankle physical structure and real rehabilitation. Based on traditional rehabilitation therapy, a novel robot-Assist rehabilitation therapy to combine subjective awareness with objective training was proposed. In this robot, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. Finally, the core control strategy, position control and force control were proposed. With the robot, several primary experiments are performed. The feasibility of the robot was verified.
AB - With the developments of robotics, more and more rehabilitation robots are used to assist traditional training in rehabilitation field. In this paper, a novel ankle robot combined with 3 degrees of freedom, full fill passive-Active training, subjective awareness and objective training requirements was proposed. The requirement of ankle robot was analyzed based on the ankle physical structure and real rehabilitation. Based on traditional rehabilitation therapy, a novel robot-Assist rehabilitation therapy to combine subjective awareness with objective training was proposed. In this robot, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. Finally, the core control strategy, position control and force control were proposed. With the robot, several primary experiments are performed. The feasibility of the robot was verified.
UR - http://www.scopus.com/inward/record.url?scp=85015737695&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2016.7832075
DO - 10.1109/ICInfA.2016.7832075
M3 - Conference contribution
AN - SCOPUS:85015737695
T3 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
SP - 1606
EP - 1611
BT - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
Y2 - 1 August 2016 through 3 August 2016
ER -