Development of an ankle robot MKA-III for rehabilitation training

Zhijiang Lu; Chunbao Wang; Lihong Duan; Quanquan Liu; Tongyang Sun; Yajing Shen; Qing Shi; Meng Li; Yulong Wang; Jianjun Long; Jianjun Wei; Weiguang Li; Atsuo Takanishi; Zhengzhi Wu

doi:10.1109/RCAR.2016.7784084

Development of an ankle robot MKA-III for rehabilitation training

Zhijiang Lu, Chunbao Wang^*, Lihong Duan, Quanquan Liu, Tongyang Sun, Yajing Shen, Qing Shi, Meng Li, Yulong Wang, Jianjun Long, Jianjun Wei, Weiguang Li, Atsuo Takanishi, Zhengzhi Wu

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed. Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed. Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the hardware configuration of control system was built up. Finally, the core control strategy, position control and force control were proposed.

Original language	English
Title of host publication	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	523-527
Number of pages	5
ISBN (Electronic)	9781467389594
DOIs	https://doi.org/10.1109/RCAR.2016.7784084
Publication status	Published - 2016 Dec 14
Event	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Siem Reap, Cambodia Duration: 2016 Jun 6 → 2016 Jun 9

Other

Other	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Country/Territory	Cambodia
City	Siem Reap
Period	16/6/6 → 16/6/9

ASJC Scopus subject areas

Computer Networks and Communications
Computer Science Applications
Information Systems and Management
Hardware and Architecture

Access to Document

10.1109/RCAR.2016.7784084

Cite this

Lu, Z., Wang, C., Duan, L., Liu, Q., Sun, T., Shen, Y., Shi, Q., Li, M., Wang, Y., Long, J., Wei, J., Li, W., Takanishi, A., & Wu, Z. (2016). Development of an ankle robot MKA-III for rehabilitation training. In 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 (pp. 523-527). [7784084] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2016.7784084

Development of an ankle robot MKA-III for rehabilitation training. / Lu, Zhijiang; Wang, Chunbao; Duan, Lihong et al.

2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 523-527 7784084.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lu, Z, Wang, C, Duan, L, Liu, Q, Sun, T, Shen, Y, Shi, Q, Li, M, Wang, Y, Long, J, Wei, J, Li, W, Takanishi, A & Wu, Z 2016, Development of an ankle robot MKA-III for rehabilitation training. in 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016., 7784084, Institute of Electrical and Electronics Engineers Inc., pp. 523-527, 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, Siem Reap, Cambodia, 16/6/6. https://doi.org/10.1109/RCAR.2016.7784084

@inproceedings{780da574af67438d8f765759a765013a,

title = "Development of an ankle robot MKA-III for rehabilitation training",

abstract = "With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed. Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed. Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the hardware configuration of control system was built up. Finally, the core control strategy, position control and force control were proposed.",

author = "Zhijiang Lu and Chunbao Wang and Lihong Duan and Quanquan Liu and Tongyang Sun and Yajing Shen and Qing Shi and Meng Li and Yulong Wang and Jianjun Long and Jianjun Wei and Weiguang Li and Atsuo Takanishi and Zhengzhi Wu",

year = "2016",

month = dec,

day = "14",

doi = "10.1109/RCAR.2016.7784084",

language = "English",

pages = "523--527",

booktitle = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 ; Conference date: 06-06-2016 Through 09-06-2016",

}

TY - GEN

T1 - Development of an ankle robot MKA-III for rehabilitation training

AU - Lu, Zhijiang

AU - Wang, Chunbao

AU - Duan, Lihong

AU - Liu, Quanquan

AU - Sun, Tongyang

AU - Shen, Yajing

AU - Shi, Qing

AU - Li, Meng

AU - Wang, Yulong

AU - Long, Jianjun

AU - Wei, Jianjun

AU - Li, Weiguang

AU - Takanishi, Atsuo

AU - Wu, Zhengzhi

PY - 2016/12/14

Y1 - 2016/12/14

N2 - With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed. Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed. Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the hardware configuration of control system was built up. Finally, the core control strategy, position control and force control were proposed.

AB - With the developments of robotics, it has become a fashion trend that ankle rehabilitation robots assist traditional training in rehabilitation field. In this thesis, a novel ankle robot combing with 3 degrees of freedom, combining passive-active training, subjective awareness and objective training was proposed. Prior to robot developments, the requirement of ankle robot was analyzed based on the ankle structure and rehabilitation. In order to acquire the range of ankle motion, an experiment was established to detect the physiological data. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy combing subjective awareness and objective training was proposed. Based on the requirements analysis, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. By means of stress analysis and strength check, the feasibility of the structure was verified. After the mechanism design, the hardware configuration of control system was built up. Finally, the core control strategy, position control and force control were proposed.

UR - http://www.scopus.com/inward/record.url?scp=85010069463&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010069463&partnerID=8YFLogxK

U2 - 10.1109/RCAR.2016.7784084

DO - 10.1109/RCAR.2016.7784084

M3 - Conference contribution

AN - SCOPUS:85010069463

SP - 523

EP - 527

BT - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

Y2 - 6 June 2016 through 9 June 2016

ER -

Development of an ankle robot MKA-III for rehabilitation training

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this