Paper Info
Title
Control strategies for ankle rehabilitation using a high performance ankle exerciser
Abstract
This paper presents the control architecture and preliminary experimental results of a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design suitable control algorithms for diagnostic, training and rehabilitation of the ankle in presence of musculoskeletal injuries. A position control scheme is used for patient-passive exercises while an admittance control technique is used to perform patient-active exercises with and without motion assistance. The design of the control algorithms is based on the analysis of the rehabilitation protocol taking into account the dynamics of the system and the dynamics of the interaction between the human and the robot. Electromyographic (EMG) signals are used to evaluate patient's effort during training/exercising. The results indicate the great potential of the rehabilitation device as a tool to fasten and improve the ankle therapies outcome.
Year
DOI
Venue
2010
10.1109/ROBOT.2010.5509883
Robotics and Automation
Keywords
Field
DocType
electromyography,medical robotics,patient rehabilitation,position control,robots,EMG signals,admittance control technique,ankle exerciser,ankle rehabilitation control strategies,control algorithms,control architecture,electromyographic signals,musculoskeletal injuries,parallel robot,patient-active exercises,patient-passive exercises,position control scheme,rehabilitation protocol
Ankle rehabilitation,Rehabilitation,Parallel manipulator,Control algorithm,Simulation,Medical robotics,Electromyography,Control engineering,Physical medicine and rehabilitation,Engineering,Robot,Ankle
Conference
Volume
Issue
ISSN
2010
1
1050-4729 E-ISBN : 978-1-4244-5040-4
ISBN
Citations 
PageRank 
978-1-4244-5040-4
8
0.77
References 
Authors
5
4
Name
Order
Citations
PageRank
Jody Alessandro Saglia1594.41
NG Tsagarakis21492159.09
Jian S. Dai317830.53
Darwin G. Caldwell42900319.72