Zhang, M, Cao, J, Xie, SQ et al. (4 more authors) (2018) A Preliminary Study on Robot-Assisted Ankle Rehabilitation for the Treatment of Drop Foot. Journal of Intelligent and Robotic Systems, 91 (2). pp. 207-215. ISSN 0921-0296
Abstract
This paper involves the use of a compliant ankle rehabilitation robot (CARR) for the treatment of drop foot. The robot has a bio-inspired design by employing four Festo Fluidic muscles (FFMs) that mimic skeletal muscles actuating three rotational degrees of freedom (DOFs). A trajectory tracking controller was developed in joint task space to track the predefined trajectory of the end effector. This controller was achieved by controlling individual FFM length based on inverse kinematics. Three patients with drop foot participated in a preliminary study to evaluate the potential of the CARR for clinical applications. Ankle stretching exercises along ankle dorsiflexion and plantarflexion (DP) were delivered for treating drop foot. All patients gave positive feedback in using this ankle robot for the treatment of drop foot, although some limitations exist. The proposed controller showed satisfactory accuracy in trajectory tracking, with all root mean square deviation (RMSD) values no greater than 0.0335 rad and normalized root mean square deviation (NRMSD) values less than 6.7%. These preliminary findings support the potentials of the CARR for clinical applications. Future work will investigate the effectiveness of the robot for treating drop foot on a large sample of subjects.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | (c) 2017, The Author(s). This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
Keywords: | Robot-assisted; Ankle; Rehabilitation; Drop foot; Stretching |
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) |
Funding Information: | Funder Grant number EPSRC GCRF_IS_2017 |
Depositing User: | Symplectic Publications |
Date Deposited: | 26 Oct 2017 13:09 |
Last Modified: | 13 Aug 2018 16:00 |
Status: | Published |
Publisher: | Springer Verlag |
Identification Number: | 10.1007/s10846-017-0652-0 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:123074 |