Development of a novel ankle rehabilitation robot with three freedoms for ankle rehabilitation training

Zhijiang Lu, Chunbao Wang, Lihong Duan, Mengjie Li, Qing Shi, Lin Wang, Massimiliano Zecca, Atsuo Takanishi, Weiguang Li, Zhengzhi Wu

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    Ankle rehabilitation training takes an important role in the hemiplegic rehabilitation training. Traditional training requires the physical therapist treating the patient as one to one. The training process is repeating and needs a long period. The performances of training rely heavily on the skill of therapists. The training effectiveness depends on the skills of the therapist. To improve the training effectiveness, there are many ankle rehabilitation robots are proposed. However all of them are only focusing on providing a passive training to the patient. In this paper, an ankle rehabilitation robot with three degrees is proposed. This robot can not only realizes the passive training but also has much more sensors to detect the movements of the ankle, especially realizes the patient active training. In this paper, the detail design of the mechanism is introduced. The mechanical structure includes pedal parts, thigh fixing parts, cross slider parts, driving unit and sensing unit. Comparing with current ankle rehabilitation researches, this robot uses linear motion in horizontal and vertical plane instead of rotary motion to realize dorsiflexion/plantar flexion and abduction/adduction. Finally, we present ankle motion space analysis and ankle robot workspace analysis of ankle robot to verify the feasibility of the robot.

    Original languageEnglish
    Title of host publication2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2091-2096
    Number of pages6
    ISBN (Print)9781479987290
    DOIs
    Publication statusPublished - 2015 Oct 2
    Event5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015 - Shenyang, China
    Duration: 2015 Jun 92015 Jun 12

    Other

    Other5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015
    CountryChina
    CityShenyang
    Period15/6/915/6/12

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering

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  • Cite this

    Lu, Z., Wang, C., Duan, L., Li, M., Shi, Q., Wang, L., Zecca, M., Takanishi, A., Li, W., & Wu, Z. (2015). Development of a novel ankle rehabilitation robot with three freedoms for ankle rehabilitation training. In 2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015 (pp. 2091-2096). [7288271] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2015.7288271