scholarly journals Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

2017 ◽  
pp. 301-312 ◽  
Author(s):  
Chi Zhang ◽  
Jiwei Hu ◽  
Qingsong Ai ◽  
Wei Meng ◽  
Quan Liu
Keyword(s):  
Impedance Control ◽  
Rehabilitation Robot ◽  
Pneumatic Muscles ◽  
Ankle Rehabilitation

scholarly journals Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Sensors ◽  
2017 ◽  
Vol 18 (2) ◽  
pp. 66 ◽  
Author(s):  
Qingsong Ai ◽  
Chengxiang Zhu ◽  
Jie Zuo ◽  
Wei Meng ◽  
Quan Liu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Rehabilitation Robot ◽  
Adaptive Backstepping ◽  
Mode Control ◽  
Pneumatic Muscles ◽  
Ankle Rehabilitation ◽  
Backstepping Sliding Mode Control

scholarly journals Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

2017 ◽  
Vol 11 ◽  
Author(s):  
Quan Liu ◽  
Aiming Liu ◽  
Wei Meng ◽  
Qingsong Ai ◽  
Sheng Q. Xie
Keyword(s):  
Rehabilitation Robot ◽  
Compliance Control ◽  
Pneumatic Muscles ◽  
Ankle Rehabilitation

Adaptive Impedance Control of Parallel Ankle Rehabilitation Robot

2017 ◽  
Vol 139 (11) ◽  
Author(s):  
Prashant K. Jamwal ◽  
Shahid Hussain ◽  
Mergen H. Ghayesh ◽  
Svetlana V. Rogozina
Keyword(s):  
Ankle Joint ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Control Strategies ◽  
Active Participation ◽  
Rehabilitation Robot ◽  
Robotic Assistance ◽  
Control Approach ◽  
Ankle Rehabilitation ◽  
Adaptive Impedance Control

Robots are being increasingly used by physical therapists to carry out rehabilitation treatments owing to their ability of providing repetitive, controlled, and autonomous training sessions. Enhanced treatment outcomes can be achieved by encouraging patients' active participation besides robotic assistance. Advanced control strategies are required to be designed and implemented for the rehabilitation robots in order to persuade patients to contribute actively during the treatments. In this paper, an adaptive impedance control approach is developed and implemented on a parallel ankle rehabilitation robot. The ankle robot was designed based on a parallel mechanism and actuated using four pneumatic muscle actuators (PMAs) to provide three rotational degrees-of-freedom (DOFs) to the ankle joint. The proposed controller adapts the parallel robot's impedance according to the patients' active participation to provide customized robotic assistance. In order to evaluate performance of the proposed controller, experiments were conducted with stroke patients. It is demonstrated from the experimental results that the robotic assistance decreases as a result of patients' active participation. Similarly, increased robotics assistance is recorded in response to decrease in patient's participation in the rehabilitation process. This work will aid in the further development of customized robot-assisted physical therapy of ankle joint impairment.

Impedance Control of an Intrinsically Compliant Parallel Ankle Rehabilitation Robot

2016 ◽  
Vol 63 (6) ◽  
pp. 3638-3647 ◽  
Author(s):  
Prashant K. Jamwal ◽  
Shahid Hussain ◽  
Mergen H. Ghayesh ◽  
Svetlana V. Rogozina
Keyword(s):  
Impedance Control ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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