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

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

    3 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 languageEnglish
    Title of host publication2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages523-527
    Number of pages5
    ISBN (Electronic)9781467389594
    DOIs
    Publication statusPublished - 2016 Dec 14
    Event2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Siem Reap, Cambodia
    Duration: 2016 Jun 62016 Jun 9

    Other

    Other2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
    CountryCambodia
    CitySiem Reap
    Period16/6/616/6/9

    ASJC Scopus subject areas

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

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