Paper Info
Title
Mechatronic design of an ankle-foot rehabilitation robot for children with cerebral palsy and preliminary clinical trial
Abstract
Cerebral palsy (CP) is the most prevalent physical disability originating in childhood and with impaired motor function secondary to injury of the immature brain. In this paper, we developed a robotic ankle-foot rehabilitation system for children with cerebral palsy (RARS-CP). We introduce the novelties in robot mechanical design, actuation and transmission, and hierarchical control system. Customized graphical user interfaces are developed in Labview environment based on FPGA-based embedded system. To validate the reliability and feasibility of the proposed system, we recruit a health subject and a child with CP to carry out experiments, respectively. In the experiment, we firstly verified characterization of low-level robot control, including three working modalities: position control, torque control and velocity-torque control. Then, we performed a passive stretching therapy and game-based active rehabilitation sessions for the patient to further test the whole system. Preliminary results about robot performance demonstrate that the proposed RARS-CP is a promising solution in CP clinical rehabilitation for ankle joint.
Year
DOI
Venue
2017
10.1109/ICIT.2017.7915466
international conference on industrial technology
Field
DocType
Citations 
Hierarchical control system,Modalities,Robot control,Rehabilitation,Simulation,Cerebral palsy,Control engineering,Physical medicine and rehabilitation,Engineering,Mechatronics,Robot,Ankle
Conference
0
PageRank 
References 
Authors
0.34
0
8
Name
Order
Citations
PageRank
Zhihao Zhou1277.98
Cui Wang200.34
Zhendong Zhang397.62
Jingeng Mai448.76
Songhua Yan500.34
Zhen Huang65720.78
Ninghua Wang792.52
Qining Wang816739.64