Liu, Q, Zuo, J, Zhu, C et al. (3 more authors) (2022) Design and Hierarchical Force-Position Control of Redundant Pneumatic Muscles-Cable-Driven Ankle Rehabilitation Robot. IEEE Robotics and Automation Letters, 7 (1). pp. 502-509. ISSN 2377-3766
Abstract
Ankle dysfunction is common in the public following injuries, especially for stroke patients. Most of the current robotic ankle rehabilitation devices are driven by rigid actuators and have problems such as limited degrees of freedom, lack of safety and compliance, and poor flexibility. In this letter, we design a new type of compliant ankle rehabilitation robot redundantly driven by pneumatic muscles (PMs) and cables to provide full range of motion and torque ability for the human ankle with enhanced safety and adaptability, attributing to the PM's high power/mass ratio, good flexibility and lightweight advantages. The ankle joint can be compliantly driven by the robot with full three degrees of freedom to perform the dorsiflexion/plantarflexion, inversion/ eversion, and adduction/abduction training. In order to keep all PMs and cables in tension which is essential to ensure the robot's controllability and patient's safety, Karush-Kuhn-Tucker (KKT) theorem and analytic-iterative algorithm are utilized to realize a hierarchical force-position control (HFPC) scheme with optimal force distribution for the redundant compliant robot. Experiment results demonstrate that all PMs are kept in tension during the control while the position tracking accuracy of the robot is acceptable, which ensures controllability and stability throughout the compliant robot-assisted rehabilitation training.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 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: | Redundant robots, force control, pneumatic muscles, ankle rehabilitation robot |
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) |
Depositing User: | Symplectic Publications |
Date Deposited: | 03 Feb 2022 14:50 |
Last Modified: | 09 Feb 2022 01:22 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/lra.2021.3123747 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:183194 |