Jamwal, PK, Hussain, S, Tsoi, YH et al. (1 more author) (2020) Musculoskeletal Model for Path Generation and Modification of an Ankle Rehabilitation Robot. IEEE Transactions on Human-Machine Systems. ISSN 2168-2291
Abstract
While newer designs and control approaches are being proposed for rehabilitation robots, vital information from the human musculoskeletal system should also be considered. Incorporating knowledge about joint biomechanics during the development of robot controllers can enhance the safety and performance of robot-aided treatments. In this article, the optimal path or trajectories of a parallel ankle rehabilitation robot were generated by minimizing joint reaction moments and the tension along ligaments and muscle-tendon units. The simulations showed that using optimized robot paths, user efforts could be reduced to 80%, thereby ensuring less strain on weaker or stiffer ligaments, etc. Additionally, to limit the moments applied by the robot in stiff or constrained directions, the intended robot path was modified to move the commanded position in the direction opposite to that of the position error. Such online modification of the robot path can lead to a reduction in forces applied by a robot to the subject. Simulation results and experimental findings with healthy subjects using an ankle rehabilitation robot prototype and subsequent statistical analysis further validated that path modification based on ankle joint biomechanics results in a reduction in undesired forces experienced by human users during treatment.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | ankle joint musculoskeletal modeling, optimization of muscle forces, parallel ankle rehabilitation robot, robot path generation and modification |
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) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) GCRF_IS_2017 |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Jun 2020 13:58 |
Last Modified: | 12 Jun 2020 01:29 |
Status: | Published online |
Publisher: | IEEE |
Identification Number: | 10.1109/thms.2020.2989688 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:161444 |