Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety
ISSN: 0143-991X
Article publication date: 13 May 2020
Issue publication date: 18 August 2020
Abstract
Purpose
The purpose of this paper is to implement a passive compliance training strategy for our newly designed 2-UPS/RRR parallel ankle rehabilitation robot (PARR) to enhance its rehabilitation training safety.
Design/methodology/approach
First, a kinematic analysis of the PARR is introduced, and the mechanism ensures that the rotation centre of the ankle joint complex (AJC) coincides with robot’s rotation centre. Then, a passive compliance training strategy based on admittance control is described in detail and is implemented on our PARR.
Findings
Experiments involving healthy subjects were conducted, and the performance of trajectory tracking was quantitatively evaluated, with the results showing excellent compliance and trajectory tracking accuracy, which can ensure that a secondary injury to the AJC during passive rehabilitation training is avoided. The influence of different admittance parameters was also simulated and analysed, which can contribute to the development of adaptive parameter adjustment research.
Originality/value
The paper can be used to improve the effectiveness of ankle rehabilitation, to alleviate manual therapy problems in terms of labour intensiveness, precision and subjectivity and to ensure safety and comfort during rehabilitation sessions.
Keywords
Acknowledgements
The authors would like to thank the National Research Center for Rehabilitation Technical Aids, Beijing, China, and the Department of Neurology, the Affiliated Hospital of Qingdao University, Qingdao, China, for their meaningful guidance on the development of ankle rehabilitation training strategies.
This work was supported in part by the National Natural Science Foundation of China under Grants No.61903011, 51675008, in part by Beijing Natural Science Foundation under grant No.3204036, in part by the National Key R&D Program of China under Grant No.2018YFB1307004, in part by the Natural Science Foundation of Beijing Education Committee under Grant No.KM202010005021, and in part by the Beijing Postdoctoral Research Foundation under Grant No.Q6001002201901.
Conflict of interest: The authors declare that they have no conflict of interest.
Citation
Li, J., Fan, W., Dong, M. and Rong, X. (2020), "Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety", Industrial Robot, Vol. 47 No. 5, pp. 747-755. https://doi.org/10.1108/IR-02-2020-0040
Publisher
:Emerald Publishing Limited
Copyright © 2020, Emerald Publishing Limited