Reconfigurable ankle rehabilitation robot for various exercises

This paper presents a reconfigurable ankle rehabilitation robot to cover various rehabilitation exercise modes. The designed robot can allow desired ankle and foot motions, including toe and heel raising as well as traditional ankle rotations, since the mechanism can generate relative rotation between the fore and rear platforms as well as pitch and roll motions. In addition, the robotic device can be reconfigured from a range of motion (ROM)/strengthening exercise device to a balance/proprioception exercise device by simply incorporating an additional plate. Further, the action of the device is twofold in the sense that while a patient's foot is fastened firmly to the ROM/strengthening device for task specific training, that person can also stand on the balance/proproception device. To perform each mode of ROM, strengthening, and proproception exercises, a unified position-based impedance control is systematically developed taking into account the desired position and velocity. © 2005 Wiley Periodicals, Inc.

[1]  Robert D. Lorenz,et al.  Comparison of motion control loops for industrial applications , 1999, Conference Record of the 1999 IEEE Industry Applications Conference. Thirty-Forth IAS Annual Meeting (Cat. No.99CH36370).

[2]  N. Hogan,et al.  Robot-aided neurorehabilitation. , 1998, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[3]  R. E. Ellis,et al.  Design and evaluation of a high-performance haptic interface , 1996, Robotica.

[4]  Zhiming Ji,et al.  Design of a reconfigurable platform manipulator , 1998 .

[5]  Philip Moore,et al.  A practical control strategy for servo-pneumatic actuator systems , 1999 .

[6]  D A Winter,et al.  A two-part, viscoelastic foot model for use in gait simulations. , 1996, Journal of biomechanics.

[7]  Nariman Sepehri,et al.  Position-based impedance control of an industrial hydraulic manipulator , 1997 .

[8]  R. Cohen,et al.  Conceptual Design of a Modular Robot , 1992 .

[9]  Judith E. Deutsch,et al.  A Stewart Platform-Based System for Ankle Telerehabilitation , 2001, Auton. Robots.

[10]  M Torode,et al.  Inter-segment foot motion and ground reaction forces over the stance phase of walking. , 2001, Clinical biomechanics.

[11]  D. Viano,et al.  Biomechanical properties of human cadaveric ankle-subtalar joints in quasi-static loading. , 1998, Journal of biomechanical engineering.

[12]  Toshiro Noritsugu,et al.  Application of rubber artificial muscle manipulator as a rehabilitation robot , 1997 .

[13]  D. De Clercq,et al.  Relationship between gait biomechanics and inversion sprains: a prospective study of risk factors. , 2005, Gait & posture.

[14]  Wookho Son,et al.  Interactive Dynamic Simulation Schemes for Articulated Bodies through Haptic Interface , 2003 .

[15]  Jian S. Dai,et al.  Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device , 2004, Auton. Robots.

[16]  A. C. Sanderson,et al.  Dynamics and distributed control of modular robotic systems , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[17]  Giovanni Muscato,et al.  An experimental comparison between several pneumatic position control methods , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[18]  R. Donatelli.  The Biomechanics of the Foot and Ankle , 1995 .

[19]  Manfred Morari,et al.  Impedance Control Based Gait-Pattern Adaptation for a Robotic Rehabilitation Device , 2002 .

[20]  M. Brown,et al.  Design and control of a three degree of freedom pneumatic physiotherapy robot , 2003, Robotica.

[21]  Dale A. Lawrence,et al.  Impedance control stability properties in common implementations , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[22]  Judith E. Deutsch,et al.  Post-Stroke Rehabilitation with the Rutgers Ankle System: A Case Study , 2001, Presence: Teleoperators & Virtual Environments.

[23]  Jungwon Yoon,et al.  A new family of hybrid 4-DOF parallel mechanisms with two platforms and its application to a footpad device , 2005 .