TY - GEN
T1 - Mechanism design of an ankle robot MKA-III for rehabilitation training
AU - Wang, Chunbao
AU - Lu, Zhijiang
AU - Duan, Lihong
AU - Liu, Quanquan
AU - Sun, Tongyang
AU - Lu, Zhixiang
AU - Li, Weiguang
AU - Li, Meng
AU - Shen, Yajing
AU - Shi, Qing
AU - Wang, Yulong
AU - Long, Jianjun
AU - Wei, Jianjun
AU - Qin, Jian
AU - Wu, Zhengzhi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/22
Y1 - 2016/9/22
N2 - With the development of aging society, the number of hemiplegia patients grows rapidly and over 75% of survivors suffering hemiplegia need rehabilitation training. To assist therapists, series of rehabilitation training robots were carried out. However, most of current researches are only focusing on function training. They ignore the importance of neurological rehabilitation in early phrase of hemiplegia. Early rehabilitation takes a fundamental position in neurological rehabilitation and whole-body rehabilitation. To fulfill all of those requirements, MKA series have been developed. During the experiment, there is some problems including unreliable transmission and dehumanization design. For these reasons, in this paper, we propose the MKA-III. Based on physiological structure and rehabilitation theory, the mechanism was design. In this paper, the detail design of the mechanism is introduced. 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. In addition, for the motor control and information acquisition, the hard system is introduced.
AB - With the development of aging society, the number of hemiplegia patients grows rapidly and over 75% of survivors suffering hemiplegia need rehabilitation training. To assist therapists, series of rehabilitation training robots were carried out. However, most of current researches are only focusing on function training. They ignore the importance of neurological rehabilitation in early phrase of hemiplegia. Early rehabilitation takes a fundamental position in neurological rehabilitation and whole-body rehabilitation. To fulfill all of those requirements, MKA series have been developed. During the experiment, there is some problems including unreliable transmission and dehumanization design. For these reasons, in this paper, we propose the MKA-III. Based on physiological structure and rehabilitation theory, the mechanism was design. In this paper, the detail design of the mechanism is introduced. 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. In addition, for the motor control and information acquisition, the hard system is introduced.
UR - http://www.scopus.com/inward/record.url?scp=84991636720&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2016.7574837
DO - 10.1109/CYBER.2016.7574837
M3 - Conference contribution
AN - SCOPUS:84991636720
T3 - 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
SP - 284
EP - 289
BT - 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
Y2 - 19 June 2016 through 22 June 2016
ER -