Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

  • Chi Zhang
  • Jiwei Hu
  • Qingsong Ai
  • Wei Meng
  • Quan Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10462)


Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10 N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.


Pneumatic muscle Ankle rehabilitation Impedance control 



This research is supported by National Natural Science Foundation of China under grants No. 51675389, 51475342.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Chi Zhang
    • 1
    • 2
  • Jiwei Hu
    • 1
    • 2
  • Qingsong Ai
    • 1
    • 2
  • Wei Meng
    • 1
    • 2
  • Quan Liu
    • 1
    • 2
  1. 1.School of Information EngineeringWuhan University of TechnologyWuhanChina
  2. 2.Key Laboratory of Fiber Optic Sensing Technology and Information ProcessingWuhan University of Technology, Ministry of EducationWuhanChina

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