Configuration Synthesis of Multi-mode Ankle Rehabilitation Robot

2021 ◽  
pp. 103-114
Author(s):  
Weihan Jia ◽  
Chenglei Liu ◽  
Jun Wei ◽  
Jianjun Zhang
Keyword(s):  
Rehabilitation Robot ◽  
Ankle Rehabilitation ◽  
Configuration Synthesis ◽  
Multi Mode

scholarly journals State of the art in parallel ankle rehabilitation robot: a systematic review

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Mingjie Dong ◽  
Yu Zhou ◽  
Jianfeng Li ◽  
Xi Rong ◽  
Wenpei Fan ◽  
...  
Keyword(s):  
Systematic Review ◽  
Clinical Trials ◽  
State Of The Art ◽  
Control Strategies ◽  
Rehabilitation Robot ◽  
Training Methods ◽  
Rehabilitation Training ◽  
Rotation Center ◽  
Ankle Rehabilitation ◽  
Neurological Injuries

Abstract Background The ankle joint complex (AJC) is of fundamental importance for balance, support, and propulsion. However, it is particularly susceptible to musculoskeletal and neurological injuries, especially neurological injuries such as drop foot following stroke. An important factor in ankle dysfunction is damage to the central nervous system (CNS). Correspondingly, the fundamental goal of rehabilitation training is to stimulate the reorganization and compensation of the CNS, and to promote the recovery of the motor system’s motor perception function. Therefore, an increasing number of ankle rehabilitation robots have been developed to provide long-term accurate and uniform rehabilitation training of the AJC, among which the parallel ankle rehabilitation robot (PARR) is the most studied. The aim of this study is to provide a systematic review of the state of the art in PARR technology, with consideration of the mechanism configurations, actuator types with different trajectory tracking control techniques, and rehabilitation training methods, thus facilitating the development of new and improved PARRs as a next step towards obtaining clinical proof of their rehabilitation benefits. Methods A literature search was conducted on PubMed, Scopus, IEEE Xplore, and Web of Science for articles related to the design and improvement of PARRs for ankle rehabilitation from each site’s respective inception from January 1999 to September 2020 using the keywords “ parallel”, “ ankle”, and “ robot”. Appropriate syntax using Boolean operators and wildcard symbols was utilized for each database to include a wider range of articles that may have used alternate spellings or synonyms, and the references listed in relevant publications were further screened according to the inclusion criteria and exclusion criteria. Results and discussion Ultimately, 65 articles representing 16 unique PARRs were selected for review, all of which have developed the prototypes with experiments designed to verify their usability and feasibility. From the comparison among these PARRs, we found that there are three main considerations for the mechanical design and mechanism optimization of PARRs, the choice of two actuator types including pneumatic and electrically driven control, the covering of the AJC’s motion space, and the optimization of the kinematic design, actuation design and structural design. The trajectory tracking accuracy and interactive control performance also need to be guaranteed to improve the effect of rehabilitation training and stimulate a patient’s active participation. In addition, the parameters of the reviewed 16 PARRs are summarized in detail with their differences compared by using figures and tables in the order they appeared, showing their differences in the two main actuator types, four exercise modes, fifteen control strategies, etc., which revealed the future research trends related to the improvement of the PARRs. Conclusion The selected studies showed the rapid development of PARRs in terms of their mechanical designs, control strategies, and rehabilitation training methods over the last two decades. However, the existing PARRs all have their own pros and cons, and few of the developed devices have been subjected to clinical trials. Designing a PARR with three degrees of freedom (DOFs) and whereby the mechanism’s rotation center coincides with the AJC rotation center is of vital importance in the mechanism design and optimization of PARRs. In addition, the design of actuators combining the advantages of the pneumatic-driven and electrically driven ones, as well as some new other actuators, will be a research hotspot for the development of PARRs. For the control strategy, compliance control with variable parameters should be further studied, with sEMG signal included to improve the real-time performance. Multimode rehabilitation training methods with multimodal motion intention recognition, real-time online detection and evaluation system should also be further developed to meet the needs of different ankle disability and rehabilitation stages. In addition, the clinical trials are in urgent need to help the PARRs be implementable as an intervention in clinical practice.

Control Strategies for Patient-Assisted Training Using the Ankle Rehabilitation Robot (ARBOT)

2013 ◽  
Vol 18 (6) ◽  
pp. 1799-1808 ◽  
Author(s):  
Jody A. Saglia ◽  
Nikos G. Tsagarakis ◽  
Jian S. Dai ◽  
Darwin G. Caldwell
Keyword(s):  
Control Strategies ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation

DESIGN OF ANKLE REHABILITATION ROBOT WITH ANTAGONISTIC NITINOL WIRE ACTUATORS

2020 ◽  
Vol 35 (1) ◽  
Author(s):  
Chong T. Hau ◽  
Darwin Gouwanda ◽  
Alpha A. Gopalai ◽  
Cheng Y. Low ◽  
Fazah A. Hanapiah
Keyword(s):  
Rehabilitation Robot ◽  
Nitinol Wire ◽  
Ankle Rehabilitation

Fabrication of Parallel Ankle Rehabilitation Robot

2021 ◽  
pp. 623-637
Author(s):  
Mohd Khairul Ashraf Bin Ismail ◽  
Muhammad Nazrin Shah ◽  
Wan Azani Mustafa
Keyword(s):  
Rehabilitation Robot ◽  
Ankle Rehabilitation

A Multi-Mode Rehabilitation Robot With Magnetorheological Actuators Based on Human Motion Intention Estimation

2019 ◽  
Vol 27 (10) ◽  
pp. 2216-2228 ◽  
Author(s):  
Jiajun Xu ◽  
Yang Liu ◽  
Jian Chen ◽  
Youfu Li ◽  
Linsen Xu ◽  
...  
Keyword(s):  
Human Motion ◽  
Rehabilitation Robot ◽  
Multi Mode ◽  
Intention Estimation ◽  
Motion Intention

scholarly journals Musculoskeletal Model for Path Generation and Modification of an Ankle Rehabilitation Robot

2020 ◽  
Vol 50 (5) ◽  
pp. 373-383 ◽  
Author(s):  
Prashant K. Jamwal ◽  
Shahid Hussain ◽  
Yun H. Tsoi ◽  
Sheng Q. Xie
Keyword(s):  
Musculoskeletal Model ◽  
Rehabilitation Robot ◽  
Path Generation ◽  
Ankle Rehabilitation
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