@inproceedings{3d3c9636db4646beb72f61bd6ada9773,
title = "Compliance adaptation of an intrinsically soft ankle rehabilitation robot driven by pneumatic muscles",
abstract = "Pneumatic muscles (PMs)-driven robots become more and more popular in medical and rehabilitation field as the actuators are intrinsically complaint and thus are safer for patients than traditional rigid robots. This paper proposes a new compliance adaptation method of a soft ankle rehabilitation robot that is driven by four pneumatic muscles enabling three rotational movement degrees of freedom (DoFs). The stiffness of a PM is dominated by the nominal pressure. It is possible to control the robot joint compliance independently of the robot movement in task space. The controller is designed in joint space to regulate the compliance property of the soft robot by tuning the stiffness of each active link. Experiments in actual environment were conducted to verify the control scheme and results show that the robot compliance can be adjusted when provided changing nominal pressures and the robot assistance output can be regulated, which provides a feasible solution to implement the patient-cooperative training strategy.",
keywords = "Compliance adaptation, Nominal pressure, Pneumatic muscles, Soft rehabilitation robot",
author = "Wei Meng and Quan Liu and Mingming Zhang and Qingsong Ai and Xie, \{Sheng Quan\}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",
year = "2017",
month = aug,
day = "21",
doi = "10.1109/AIM.2017.8013999",
language = "英语",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "82--87",
booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",
}