TY - GEN
T1 - Mechanism design and control strategies of an ankle robot for rehabilitation training
AU - Sun, Tongyang
AU - Lu, Zhijiang
AU - Wang, Chunbao
AU - Duan, Lihong
AU - Shen, Yajing
AU - Shi, Qing
AU - Wei, Jianjun
AU - Wang, Yulong
AU - Li, Weiguang
AU - Qin, Jian
AU - Wu, Zhengzhi
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - It has become a trend that ankle rehabilitation robots replace traditional therapist in rehabilitation field. Many ankle rehabilitation robots have been proposed for rehabilitation training by researchers. However, most of current researches are only focusing on providing the passive training. They not only ignore the active force training for patient, but also neglect the relationship between passive training and neurological rehabilitation. In this paper, an ankle robot combining active training and passive training, subjective awareness and objective training is proposed. The ankle physiological model and mechanism of ankle rehabilitation robot are described. The control strategies of advanced training modes, passive training and active training, subjective awareness and objective training are introduced. Finally, experiments are established to testify the mechanical performance of ankle robot. Furthermore, experiment of passive training and active training is held among healthy people and the result show a good stability of the control system.
AB - It has become a trend that ankle rehabilitation robots replace traditional therapist in rehabilitation field. Many ankle rehabilitation robots have been proposed for rehabilitation training by researchers. However, most of current researches are only focusing on providing the passive training. They not only ignore the active force training for patient, but also neglect the relationship between passive training and neurological rehabilitation. In this paper, an ankle robot combining active training and passive training, subjective awareness and objective training is proposed. The ankle physiological model and mechanism of ankle rehabilitation robot are described. The control strategies of advanced training modes, passive training and active training, subjective awareness and objective training are introduced. Finally, experiments are established to testify the mechanical performance of ankle robot. Furthermore, experiment of passive training and active training is held among healthy people and the result show a good stability of the control system.
UR - http://www.scopus.com/inward/record.url?scp=84964523315&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418756
DO - 10.1109/ROBIO.2015.7418756
M3 - Conference contribution
AN - SCOPUS:84964523315
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 132
EP - 137
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -