Abstract
A robotic device has been designed to carry out the range of motion and muscle strengthening exercises required for ankle rehabilitation. This chapter presents the design, modeling and control of this robotic device. Analysis on the ankle anatomy and required rehabilitation procedures resulted in the use of a parallel robot. Based on singularity and workspace analysis, suitable robot kinematic parameters were selected for the redundantly actuated parallel robot. Modeling of the manipulator and the human ankle was carried out to facilitate controller design. The manipulator was modeled through application of Lagrange’s equations while ankle kinematics and dynamics was assumed to be based on the biaxial joint ankle model. A computed torque impedance controller has been developed to regulate the relationship between the applied moments at the ankle and the ankle rotary motion. To ensure accurate estimation of state variables, a kinematic self calibration routine has also been developed for the parallel robot using redundant sensing. To allow for further development of the controller, the recursive least squares algorithm has been applied to estimate the ankle stiffness and damping parameters. This information will be used in future work for stability analysis and controller parameter adaptation. Finally, results on the simulation of the system were presented to show the performance of the developed controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
An, C.H., Hollerbach, J.M.: Dynamic stability issues in force control of manipulators. In: IEEE International Conference on Robotics and Automation, pp. 890–896 (1987)
Belda, K., Bohm, J., Valasek, M.: State-space generalized predictive control for redundant parallel robots. Mechanics Based Design of Structures and Machines 31(3), 413–432 (2003)
Besnard, S., Khalil, W.: Identifiable parameters for parallel robots kinematic calibration. In: IEEE International Conference on Robotics & Automation, Seoul, Korea, pp. 2859–2866 (2001)
Bharadwaj, K., Sugar, T., Koeneman, J., Koeneman, E.: Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation. Journal of Biomechanical Engineering 127, 1009–1013 (2005)
Chen, J., Siegler, S., Schneck, C.D.: The three-dimensional kinematics and flexibility characteristics of the human ankle and subtalar joint- Part II: Flexibility characteristics. Journal of Biomechanical Engineering 110, 374–385 (1988)
Cheng, H., Yin, Y.K., Li, Z.: Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Transactions on Mechatronics 8(4), 483–491 (2003)
Colgate, J., Hogan, N.: Robust control of dynamically interacting systems. International Journal of Control 48(1), 65–88 (1988)
Deutsch, J., Latonio, J., Burdea, G., Boian, R.: Post-stroke rehabilitation with the rutgers ankle system: A case study. Presence 10(4), 416–430 (2001)
Dul, J., Johnson, G.: A kinematic model of the human ankle. Journal of Biomedical Engineering 7, 137–143 (1985)
Erol, D., Mallapragada, V., Sarkar, N.: Adaptable force control in robotic rehabilitation. In: IEEE International Workshop on Robots and Human Interactive Communication, pp. 649–654 (2005)
Girone, M., Burdea, G., Bouzit, M., Popescu, V., Deutsch, J.: A stewart platform-based system for ankle telerehabilitation. Autonomous Robots 10, 203–212 (2001)
Hesse, S., Schmidt, H., Werner, C., Bardeleben, A.: Upper and lower extremity robotic devices for rehabilitation and for studying motor control. Current Opinion in Neurology 16, 705–710 (2003)
Hogan, N.: Impedance control: An approach to manipulation: Part I - Theory. Journal of Dynamic Systems, Measurement, and Control 107(1), 1–7 (1985)
Hogan, N.: On the stability of manipulators performing contact tasks. IEEE Journal of Robotics and Automation 4(6), 677–686 (1988)
Hogan, N., Buerger, S.: Impedance and interaction control. In: Kurfess, T. (ed.) Robotics and Automation Handbook. CRC Press, New York (2005)
Kearney, R., Weiss, P., Morier, R.: System identification of human ankle dynamics: intersubject variability and intrasubject reliability. Clinical Biomechanics 5, 205–217 (1990)
Krebs, H., Palazzolo, J., Dipietro, L., Ferraro, M., Krol, J., Rannekleiv, K., Volpe, B., Hogan, N.: Rehabilitation robotics: Performance-based progressive robot-assisted therapy. Autonomous Robots 15, 7–20 (2003a)
Krebs, H., Volpe, B., Aisen, M., Hening, W., Adamovich, A., Poizner, H., Subrahmanyan, K., Hogan, N.: Robotic applications in neuromotor rehabilitation. Robotica 21, 3–11 (2003b)
Love, L.J., Book, W.J.: Force reflecting teleoperation with adaptive impedance control. IEEE Transactions on Systems, Man, and Cybernetics 34(1), 159–165 (2004)
Mattacola, C., Dwyer, M.: Rehabilitation of the ankle after acute sprain or chronic instability. Journal of Athletic Training 37(4), 413–429 (2002)
Nester, C.J.: Rearfoot complex: a review of its interdependent components, axis orientation and functional model. The Foot 7, 86–96 (1997)
Parenteau, C.S., Viano, D.C., Petit, P.Y.: Biomechanical properties of human cadaveric ankle-subtalar joints in quasi-static loading. Journal of Biomechanical Engineering 120, 105–111 (1998)
Safran, M.R., Zachazewski, J.E., Benedetti, R.S., Bartolozzi, A.R.I., Mandelbaum, R.: Lateral ankle sprains: a comprehensive review. Part 2: treatment and rehabilitation with an emphasis on the athlete. Medicine & Science in Sports & Exercise 31(7), 438–447 (1999)
Siegler, S., Chen, J., Schneck, C.D.: The three-dimensional kinematics and flexibility characteristics of the human ankle and subtalar joints-Part I: Kinematics. Journal of Biomechanical Engineering 110, 364–373 (1988)
Tarokh, M., Bailey, S.: Force tracking with unknown environment parameters using adaptive fuzzy controllers. In: IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, pp. 270–275 (1996)
Wheeler, J.W., Krebs, H.I., Hogan, N.: An ankle robot for a modular gait rehabilitation system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 1681–1684 (2004)
Yoon, J., Ryu, J.: A novel reconfigurable ankle/foot rehabilitation robot. In: IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2290–2295 (2005)
Yoon, J., Ryu, J., Lim, K.B.: Reconfigurable ankle rehabilitation robot for various exercises. Journal of Robotic Systems 33, S15–S33 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Tsoi, YH., Xie, S.Q., Graham, A.E. (2009). Design, Modeling and Control of an Ankle Rehabilitation Robot. In: Liu, D., Wang, L., Tan, K.C. (eds) Design and Control of Intelligent Robotic Systems. Studies in Computational Intelligence, vol 177. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89933-4_18
Download citation
DOI: https://doi.org/10.1007/978-3-540-89933-4_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89932-7
Online ISBN: 978-3-540-89933-4
eBook Packages: EngineeringEngineering (R0)