Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom

2020 ◽  
Vol 32 (3) ◽  
pp. 673-682
Author(s):  
Asaki Akagi ◽  
Satoki Tsuichihara ◽  
Shinichi Kosugi ◽  
Hiroshi Takemura ◽  
◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Physical Therapists ◽  
Plantar Flexion ◽  
Muscular Activity ◽  
Isokinetic Contraction ◽  
Peroneus Longus ◽  
Anterior Tibial ◽  
Gastrocnemius Muscles ◽  
And Control ◽  
And Inversion

While the number of people who need rehabilitation has been increasing because of the aging population, there are only a limited number of physical therapists engaged in rehabilitation, making it difficult to perform rehabilitation at a sufficient level. In this situation, various devices have been developed to replace physical therapists. However, no rehabilitation devices that can respond to the complicated degrees of freedom of an ankle joint complex (AJC) are commercially available. In the present study, we developed an AJC rehabilitation device using a Stewart platform parallel link mechanism. Using the device, we aim to measure and control the AJC with six degrees of freedom so that complicated composite motions of the AJC can be realized. To evaluate the device’s usefulness, we investigated how the composite motion generated by moving the AJC along the trajectory the device reproduced could influence a crural muscle. Muscular activities of the anterior tibial, soleus, and gastrocnemius muscles, generated by a composite motion of plantar flexion and inversion, had a similar feature to those generated by plantar flexion. However, the muscular activity of the peroneus longus muscle generated in the composite motion was significantly different from that generated only in plantar flexion. In the composite motion of plantar flexion and inversion, based on the knowledge that activity to develop only back muscles while suppressing muscular activities of the anterior tibial and peroneus longus muscles is possible. Based on the knowledge, the device was used to perform isokinetic contraction for evaluating the device’s usefulness for muscular training. We found a difference between the combination of active muscles during the composite motion and that during plantar flexion. A load can be applied to different muscles depending on the composite motion, which indicates that the device can be suitable for rehabilitation or training with high degrees of freedom.

Acute Paraplegia

1985 ◽  
Vol 6 (10) ◽  
pp. 303-304
Keyword(s):  
Plantar Flexion ◽  
Tibialis Posterior ◽  
Peroneus Longus ◽  
Posterior Tibial ◽  
Acute Paraplegia ◽  
And Inversion

With regard to the article "Diagnosis and Evaluation of Acute Paraplegia" by J. M. Freeman in the April 1983 issue (PIR 1983;4:327), a reader has noted that Table 2 (page 328) lists the anterior and posterior tibial muscles as responsible for `dorsiflexion inversion.' In the same table, the peroneals were listed as being responsible for `dorsiflexion eversion.' However, the action of the tibialis posterior is plantar flexion and inversion. In addition, the action of the peroneus longus is plantar flexion and eversion. Dr Freeman answers: The reader is indeed correct. In an effort to condense the table, I did lump dorsiflexion and eversion together.

Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis

2016 ◽  
Author(s):  
Houman Dallali ◽  
Evandro Ficanha ◽  
Mohammad Rastgaar Aagaah
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Control Design ◽  
Dynamic Decoupling ◽  
Prosthetic Foot ◽  
Bode Plots ◽  
Simulation And Control ◽  
And Control ◽  
And Inversion

The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmission, and prosthetic foot parameters. The resulting model is then verified experimentally and in simulation. Dynamic decoupling of the actuators to the ankle’s DP and IE DOF is also investigated using Bode plots. The code used for simulating the prosthesis is provided on GitHub for the community.

scholarly journals Design of a Hybrid Two-Degree-of-Freedom Lower Limb Exerciser

Proceedings ◽  
2020 ◽  
Vol 63 (1) ◽  
pp. 27
Author(s):  
Daniel Lateș ◽  
Laura Irina Vlașin ◽  
Alexandru Ianoși-Andreeva-Dimitrova
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Plantar Flexion ◽  
Control Engineering ◽  
Lower Limb Muscles ◽  
Limb Rehabilitation ◽  
And Control ◽  
Two Degree Of Freedom ◽  
Lower Limb Rehabilitation

Lower limb rehabilitation is an often-encountered need. This paper presents the design process of an exerciser that combines robot-assisted physiotherapy with functional electrical stimulation (FES) of the lower limb muscles. The exerciser features two degrees of freedom, one focuses on the rehabilitation of the muscles responsible for dorsiflexion and plantar flexion, the other one on the muscles responsible for the inversion and eversion of the foot. These motions might be accompanied by FES, if the physiotherapist so recommends. The presented exerciser constitutes a mechatronic device that seamlessly integrates mechanical design, electronics and control engineering.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

scholarly journals Design of a 2DoF Ankle Exoskeleton with a Polycentric Structure and a Bi-Directional Tendon-Driven Actuator Controlled Using a PID Neural Network

Actuators ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 9
Author(s):  
Taehoon Lee ◽  
Inwoo Kim ◽  
Yoon Su Baek
Keyword(s):  
Neural Network ◽  
Degrees Of Freedom ◽  
Plantar Flexion ◽  
Length Change ◽  
Talocrural Joint ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
The Difference ◽  
Ankle Exoskeleton ◽  
The Stability

Lower limb exoskeleton robots help with walking movements through mechanical force, by identifying the wearer’s walking intention. When the exoskeleton robot is lightweight and comfortable to wear, the stability of walking increases, and energy can be used efficiently. However, because it is difficult to implement the complex anatomical movements of the human body, most are designed simply. Due to this, misalignment between the human and robot movement causes the wearer to feel uncomfortable, and the stability of walking is reduced. In this paper, we developed a two degrees of freedom (2DoF) ankle exoskeleton robot with a subtalar joint and a talocrural joint, applying a four-bar linkage to realize the anatomical movement of a simple 1DoF structure mainly used for ankles. However, bidirectional tendon-driven actuators (BTDAs) do not consider the difference in a length change of both cables due to dorsiflexion (DF) and plantar flexion (PF) during walking, causing misalignment. To solve this problem, a BTDA was developed by considering the length change of both cables. Cable-driven actuators and exoskeleton robot systems create uncertainty. Accordingly, adaptive control was performed with a proportional-integral-differential neural network (PIDNN) controller to minimize system uncertainty.

Demonstration of aircraft dynamic stability and response for aeronautical engineering students

1994 ◽  
Vol 98 (975) ◽  
pp. 192-193
Author(s):  
A.W. Bloy
Keyword(s):  
Dynamic Stability ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Six Degrees Of Freedom ◽  
Stability And Control ◽  
Good Grasp ◽  
Aircraft Motion ◽  
Aeronautical Engineering ◽  
And Control ◽  
Aircraft Stability And Control

The teaching of aircraft stability and control at university usually progresses to the complexity of six degrees of freedom with a large array of aerodynamic, gravitational and inertial terms. It is therefore essential to ensure that students have a good grasp of fundamental dynamic characteristics such as damping and natural frequency, and any demonstration in which students observe aircraft motion is particularly helpful. At Manchester University this is achieved by a windtunnel demonstration of aircraft dynamic stability and response in pitch to a sinusoidal gust generator.

The Command and Control Software Implementation of a CCD Video 2 Axis Gyrostabilized Payload Used by a Fixed Wing UAV Configuration Platform

2012 ◽  
Vol 186 ◽  
pp. 46-49
Author(s):  
Corneliu Axente ◽  
Liviu Coşereanu ◽  
Daniel Ioan Suteu
Keyword(s):  
Degrees Of Freedom ◽  
Command And Control ◽  
Software Implementation ◽  
Control Software ◽  
Control Functions ◽  
And Control

The software algorithm is designed to ensure compatibility between the commands given by the operator and the need to stabilize the CCD/IR payload. The implementation was made on a mini-turret with 2 degrees of freedom mounted on a miniUAV. Appropriate command and control functions were developed by programming an Atmel family microcontroller.

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