Mechanism design and control strategies of an ankle robot for rehabilitation training

Tongyang Sun, Zhijiang Lu, Chunbao Wang, Lihong Duan, Yajing Shen, Qing Shi, Jianjun Wei, Yulong Wang, Weiguang Li, Jian Qin, Zhengzhi Wu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages132-137
Number of pages6
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 2015
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

ConferenceIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/TerritoryChina
CityZhuhai
Period6/12/159/12/15

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