scholarly journals Screw theory based mathematical modeling and kinematic analysis of a novel ankle rehabilitation robot with a constrained 3-PSP mechanism topology

2018 ◽  
Vol 2 (3) ◽  
pp. 351-360 ◽  
Author(s):  
Zhiwei Liao ◽  
Ligang Yao ◽  
Zongxing Lu ◽  
Jun Zhang
Keyword(s):  
Mathematical Modeling ◽  
Kinematic Analysis ◽  
Screw Theory ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation

Kinematic Analysis of Humanoid Based on Screw Theory

2012 ◽  
Vol 424-425 ◽  
pp. 865-870
Author(s):  
Xiao Rong Wang ◽  
Zhao Qin Wang
Keyword(s):  
Mathematical Modeling ◽  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Center Of Mass ◽  
Complex Model ◽  
The Common

It is more difficult and sophisticated to analyze the humanoid kinematics than the common industrial serial manipulator’s because of its high number of DOF, complex model, and balance constraints. Taking the advantages of the characteristics in the configuration of leg’s joints of humanoid, based on the screw theory, according to the trajectory planning of the center of mass and the feet, a method is proposed to solve the kinematics of humanoid’s legs using Paden-Kahan sub-problems approach. The solving process indicates that the mathematical modeling is of simpleness and briefness, while it is of convenience to solve the inverse kinematics

Design and Analysis of a Mechanism of Ankle Rehabilitation Robot

2013 ◽  
Vol 655-657 ◽  
pp. 1038-1042
Author(s):  
Shi De Zhang ◽  
Qiang Wang ◽  
Ping Zhou
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Rehabilitation Robot ◽  
Damage Analysis ◽  
Mechanism Analysis ◽  
Ankle Motion ◽  
Ankle Rehabilitation ◽  
Human Ankle ◽  
New Type ◽  
Singular Configuration

This paper puts forward a new type of wearable parallel mechanism on the basis of the analysis of the human ankle motion mechanism, damage analysis and methods of rehabilitation. The mechanism can realize three DOFs rotation of ankle. And the axes of the three rotations intersect at a point. Did the position and velocity analysis using the screw theory of mechanism analysis. The singularity and dexterity of this mechanism are also analyzed. According to the simulation result, this parallel mechanism has no singular configuration or uncertainty configuration in human lower limb workspace, has good maneuverability.

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
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