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

    研究成果: Conference contribution

    3 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ523-527
    ページ数5
    ISBN(電子版)9781467389594
    DOI
    出版ステータスPublished - 2016 12 14
    イベント2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Siem Reap, Cambodia
    継続期間: 2016 6 62016 6 9

    Other

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

    ASJC Scopus subject areas

    • コンピュータ ネットワークおよび通信
    • コンピュータ サイエンスの応用
    • 情報システムおよび情報管理
    • ハードウェアとアーキテクチャ

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