Zhou, L, Meng, W, Lu, CZ et al. (3 more authors) (2016) Bio-Inspired Design and Iterative Feedback Tuning Control of a Wearable Ankle Rehabilitation Robot. Journal of Computing and Information Science in Engineering, 16 (4). 041003. ISSN 1530-9827
Abstract
Robotic rehabilitation for ankle injuries offers several advantages in terms of precision, force accuracy, and task-specific training. While the existing platform-based ankle rehabilitation robots tend to provide a rotation center that does not coincide with the actual ankle joint. In this paper, a novel bio-inspired ankle rehabilitation robot was designed, which is wearable and can keep the participant's shank be stationary. The robot is redundantly actuated by four motors in parallel to offer three ankle rotation degrees-of-freedom (DOFs) with sufficient range of motion (ROM) and force capacity. To control the robotic rehabilitation device operated in a repetitive trajectory training manner, a model-free robust control method in form of iterative feedback tuning (IFT) is proposed to tune the robot controller parameters. Experiments were performed on the parallel ankle rehabilitation platform to investigate the efficacy of the design and the robustness of the IFT technique under real-life rehabilitation scenarios.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Keywords: | ankle rehabilitation; wearable robot; repetitive training; iterative feedback tuning |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 20 Apr 2017 11:14 |
Last Modified: | 05 Oct 2017 15:37 |
Published Version: | https://doi.org/10.1115/1.4033900 |
Status: | Published |
Publisher: | American Society of Mechanical Engineers (ASME) |
Identification Number: | 10.1115/1.4033900 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:115173 |