Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion

Zhihao Zhou; Qining Wang

doi:10.1109/CYBER46603.2019.9066745

Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion

Zhihao Zhou
, Qining Wang

Beijing Engineering Research Center of Intelligent Rehabilitation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Coupling behavior exists in ankle joint motion. When human beings preform dorsiflexion or plantarflexion actively, there will exist inversion and internal rotation at the same time. Existing ankle-foot rehabilitation robots did not consider these coupling motions, not only one degree of freedom (dorsiflexion/plantar flexion) robot, but also multi-degrees of freedom robots. In this paper, we proposed a robotic ankle-foot rehabilitation system with passive mechanism, to compensate the coupling motions. It might make joint motion more natural and comfortable during the robotic rehabilitation training. We also test the feasibility of the proposed prototype, and verify all DOFs and their range of motions.

Original language	English
Title of host publication	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1002-1005
Number of pages	4
ISBN (Electronic)	9781728107691
DOIs	https://doi.org/10.1109/CYBER46603.2019.9066745
State	Published - Jul 2019
Externally published	Yes
Event	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 - Suzhou, China Duration: 29 Jul 2019 → 2 Aug 2019

Publication series

Name	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

Conference

Conference	9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Country/Territory	China
City	Suzhou
Period	29/07/19 → 2/08/19

Access to Document

10.1109/CYBER46603.2019.9066745

Cite this

Zhou, Z., & Wang, Q. (2019). Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion. In 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 (pp. 1002-1005). Article 9066745 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER46603.2019.9066745

Zhou, Zhihao ; Wang, Qining. / Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion. 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1002-1005 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019).

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title = "Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion",

abstract = "Coupling behavior exists in ankle joint motion. When human beings preform dorsiflexion or plantarflexion actively, there will exist inversion and internal rotation at the same time. Existing ankle-foot rehabilitation robots did not consider these coupling motions, not only one degree of freedom (dorsiflexion/plantar flexion) robot, but also multi-degrees of freedom robots. In this paper, we proposed a robotic ankle-foot rehabilitation system with passive mechanism, to compensate the coupling motions. It might make joint motion more natural and comfortable during the robotic rehabilitation training. We also test the feasibility of the proposed prototype, and verify all DOFs and their range of motions.",

author = "Zhihao Zhou and Qining Wang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 ; Conference date: 29-07-2019 Through 02-08-2019",

year = "2019",

month = jul,

doi = "10.1109/CYBER46603.2019.9066745",

language = "英语",

series = "9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1002--1005",

booktitle = "9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019",

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Zhou, Z & Wang, Q 2019, Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion. in 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019., 9066745, 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1002-1005, 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019, Suzhou, China, 29/07/19. https://doi.org/10.1109/CYBER46603.2019.9066745

Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion. / Zhou, Zhihao; Wang, Qining.
9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1002-1005 9066745 (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Coupling behavior exists in ankle joint motion. When human beings preform dorsiflexion or plantarflexion actively, there will exist inversion and internal rotation at the same time. Existing ankle-foot rehabilitation robots did not consider these coupling motions, not only one degree of freedom (dorsiflexion/plantar flexion) robot, but also multi-degrees of freedom robots. In this paper, we proposed a robotic ankle-foot rehabilitation system with passive mechanism, to compensate the coupling motions. It might make joint motion more natural and comfortable during the robotic rehabilitation training. We also test the feasibility of the proposed prototype, and verify all DOFs and their range of motions.

AB - Coupling behavior exists in ankle joint motion. When human beings preform dorsiflexion or plantarflexion actively, there will exist inversion and internal rotation at the same time. Existing ankle-foot rehabilitation robots did not consider these coupling motions, not only one degree of freedom (dorsiflexion/plantar flexion) robot, but also multi-degrees of freedom robots. In this paper, we proposed a robotic ankle-foot rehabilitation system with passive mechanism, to compensate the coupling motions. It might make joint motion more natural and comfortable during the robotic rehabilitation training. We also test the feasibility of the proposed prototype, and verify all DOFs and their range of motions.

UR - https://www.scopus.com/pages/publications/85084303405

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DO - 10.1109/CYBER46603.2019.9066745

M3 - 会议稿件

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BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

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Y2 - 29 July 2019 through 2 August 2019

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Zhou Z, Wang Q. Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion. In 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1002-1005. 9066745. (9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019). doi: 10.1109/CYBER46603.2019.9066745

Concept and Prototype Design of A Robotic Ankle-foot Rehabilitation System with Passive Mechanism for Coupling Motion

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