Wang, T., Olivoni, E., Spyrakos-Papastavridis, E. et al. (2 more authors) (2022) Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity. Journal of Mechanical Design, 144 (5). 053301. ISSN 1050-0472
Abstract
This article presents a novel ankle rehabilitation exoskeleton for poststroke patients, the rotational center of which can automatically conform to each individual user’s ankle complex, once they wear the exoskeleton; this property always holds regardless of the point at which the exoskeleton is attached to the human shank. This exoskeleton has 2 rotation degree-of-freedoms (DOFs) and is able to provide 2 different rotation patterns via reconfiguration. In the combined-rotation pattern arrangement, the mechanism can generate all three kinds of rotations that the ankle complex is naturally capable of realizing. Among these rotational motions, the adduction/abduction rotation is a coupled motion. This rotation can be further reduced, or eliminated, by minimizing the distance between the lower connection points of the actuated links and the human ankle complex, and vice versa. For the other rotation pattern, a 90-degree arrangement of the side link offers decoupled motion control of the mechanism. Numerical studies reveal that the required rehabilitation workspace for dynamical gait exercises can be achieved with high dexterity, without generating singularities. Further investigations indicate that this mechanism has great potential for rehabilitating poststroke patients of a wide range of heights and weights.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Keywords: | ankle rehabilitation exoskeleton, decoupled motion control, dynamical gait exercises, computer-aided design, conceptual design, parallel robots, robot design, robot kinematics, simulation-based design |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Medicine and Health (Leeds) > School of Medicine (Leeds) > Institute of Rheumatology & Musculoskeletal Medicine (LIRMM) (Leeds) > Rehabilitation Medicine (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Dec 2024 12:18 |
Last Modified: | 12 Dec 2024 12:18 |
Status: | Published |
Publisher: | American Society of Mechanical Engineers |
Identification Number: | 10.1115/1.4052842 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:220729 |