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

doi:10.1109/ROBIO.2015.7418756

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: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-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 language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	IEEE
Pages	132-137
ISBN (Print)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7418756
Publication status	Published - Dec 2015
Event	2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015) - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Conference

Conference	2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015)
Place	China
City	Zhuhai
Period	6/12/15 → 9/12/15

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@inproceedings{0be253a8ac0740d6ad5414b1d4b9feef,

title = "Mechanism design and control strategies of an ankle robot for rehabilitation training",

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.",

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

year = "2015",

month = dec,

doi = "10.1109/ROBIO.2015.7418756",

language = "English",

isbn = "9781467396745",

pages = "132--137",

booktitle = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

publisher = "IEEE",

address = "United States",

note = "2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015) ; Conference date: 06-12-2015 Through 09-12-2015",

}

Sun, T, Lu, Z, Wang, C, Duan, L, Shen, Y, Shi, Q, Wei, J, Wang, Y, Li, W, Qin, J & Wu, Z 2015, Mechanism design and control strategies of an ankle robot for rehabilitation training. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7418756, IEEE, pp. 132-137, 2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015), Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7418756

Mechanism design and control strategies of an ankle robot for rehabilitation training. / Sun, Tongyang; Lu, Zhijiang; Wang, Chunbao et al.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. IEEE, 2015. p. 132-137 7418756.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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

PY - 2015/12

Y1 - 2015/12

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.

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DO - 10.1109/ROBIO.2015.7418756

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781467396745

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EP - 137

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

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T2 - 2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015)

Y2 - 6 December 2015 through 9 December 2015

ER -

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

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