Bio-Inspired Design and Iterative Feedback Tuning Control of a Wearable Ankle Rehabilitation Robot

被引：11
作者：
Zhou, Liang [1 ]
Meng, Wei [2 ,3 ]
Lu, Charles Z. [2 ]
Liu, Quan [4 ]
Ai, Qingsong [4 ]
Xie, Sheng Q. [2 ]
机构：
[1] Wuhan Univ Technol, Wuhan 430070, Peoples R China
[2] Univ Auckland, Dept Mech Engn, Auckland 1010, New Zealand
[3] Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Peoples R China
[4] Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Peoples R China
来源：
JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING | 2016年 / 16卷 / 04期
基金：
中国国家自然科学基金;
关键词：
ankle rehabilitation; wearable robot; repetitive training; iterative feedback tuning; STROKE; SYSTEM;
D O I：
10.1115/1.4033900
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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.
引用
收藏
页数：9
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