Development of a soft ankle rehabilitation robot
This chapter presents the development of an intrinsically compliant soft ankle rehabilitation robot (SARR). Specifically, it involves the robot kinematics and dynamics, the Festo Fluidic Muscles (FFM) modelling, the force distribution that distributes a given robot torque of the task space into individual FFM force of the joint space, the calculation of ankle forces and torques, and the construction of the SARR. These provide the basis for the implementation of advanced interactive training schemes. In general, the SARR devised from two literature reviews has advantages over other rehabilitation devices, including intrinsically compliant actuation system, compatible robot structure with aligned rotation centre between the robot and the human ankle, three degrees of freedom (DOFs) for three-dimensional rehabilitation exercises, and the integration of real-time ankle assessment. By using the SARR, robot-assisted ankle rehabilitation can be safer, more comprehensive and effective.
Development of a soft ankle rehabilitation robot, Page 1 of 2
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