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.
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December 2016
Research-Article
Bio-Inspired Design and Iterative Feedback Tuning Control of a Wearable Ankle Rehabilitation Robot
Wei Meng,
Wei Meng
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand;
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: wmen386@aucklanduni.ac.nz; weimeng@whut.edu.cn
The University of Auckland,
Auckland 1010, New Zealand;
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: wmen386@aucklanduni.ac.nz; weimeng@whut.edu.cn
Search for other works by this author on:
Charles Z. Lu,
Charles Z. Lu
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: zlu013@aucklanduni.ac.nz
The University of Auckland,
Auckland 1010, New Zealand
e-mail: zlu013@aucklanduni.ac.nz
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Quan Liu,
Quan Liu
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: quanliu@whut.edu.cn
Wuhan University of Technology,
Wuhan 430070, China
e-mail: quanliu@whut.edu.cn
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Qingsong Ai,
Qingsong Ai
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: qingsongai@whut.edu.cn
Wuhan University of Technology,
Wuhan 430070, China
e-mail: qingsongai@whut.edu.cn
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Sheng Q. Xie
Sheng Q. Xie
Mem. ASME
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: s.xie@auckland.ac.nz
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: s.xie@auckland.ac.nz
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Liang Zhou
Wei Meng
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand;
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: wmen386@aucklanduni.ac.nz; weimeng@whut.edu.cn
The University of Auckland,
Auckland 1010, New Zealand;
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: wmen386@aucklanduni.ac.nz; weimeng@whut.edu.cn
Charles Z. Lu
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: zlu013@aucklanduni.ac.nz
The University of Auckland,
Auckland 1010, New Zealand
e-mail: zlu013@aucklanduni.ac.nz
Quan Liu
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: quanliu@whut.edu.cn
Wuhan University of Technology,
Wuhan 430070, China
e-mail: quanliu@whut.edu.cn
Qingsong Ai
School of Information Engineering,
Wuhan University of Technology,
Wuhan 430070, China
e-mail: qingsongai@whut.edu.cn
Wuhan University of Technology,
Wuhan 430070, China
e-mail: qingsongai@whut.edu.cn
Sheng Q. Xie
Mem. ASME
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: s.xie@auckland.ac.nz
Department of Mechanical Engineering,
The University of Auckland,
Auckland 1010, New Zealand
e-mail: s.xie@auckland.ac.nz
1Corresponding author.
Contributed by the Computers and Information Division of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received January 29, 2016; final manuscript received June 9, 2016; published online November 7, 2016. Assoc. Editor: Giorgio Colombo.
J. Comput. Inf. Sci. Eng. Dec 2016, 16(4): 041003 (9 pages)
Published Online: November 7, 2016
Article history
Received:
January 29, 2016
Revised:
June 9, 2016
Citation
Zhou, L., Meng, W., Lu, C. Z., Liu, Q., Ai, Q., and Xie, S. Q. (November 7, 2016). "Bio-Inspired Design and Iterative Feedback Tuning Control of a Wearable Ankle Rehabilitation Robot." ASME. J. Comput. Inf. Sci. Eng. December 2016; 16(4): 041003. https://doi.org/10.1115/1.4033900
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