Adaptive Impedance Control of Parallel Ankle Rehabilitation Robot

[+] Author and Article Information
Prashant K. Jamwal

Department of Electrical and Electronics Engineering, Nazarbayev University, 53 Kabanbay Batyr Ave, Astana 010000, Kazakhstan

Shahid Hussain

School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Northfields Ave, Wollongong, NSW 2522, Australia

Mergen Ghayesh

School of Mechanical Engineering, University of Adelaide, Adelaide, SA 5005, Australia

Svetlana Rogozina

Department of Rehabilitation, Institute for Scientific Research of Traumatology and Orthopedics Institute for Scientific Research of Traumatology and Orthopedics, Astana 010000, Kazakhstan

1Corresponding author.

ASME doi:10.1115/1.4036560 History: Received December 21, 2016; Revised March 31, 2017


Robots are being increasingly used by physical therapists to carry out rehabilitation treatments owing to their ability of providing repetitive, controlled and autonomous training sessions. Enhanced treatment outcomes can be achieved by encouraging patients’ active participation besides robotic assistance. Advanced control strategies are required to be designed and implemented for the rehabilitation robots in order to persuade patients to contribute actively during the treatments. In this paper an adaptive impedance control approach is developed and implemented on a parallel ankle rehabilitation robot. The ankle robot was designed based on a parallel mechanism and actuated using four pneumatic muscle actuators to provide three rotational degrees of freedom to the ankle joint. The proposed controller adapts the parallel robot’s impedance according to the patients’ active participation to provide customized robotic assistance. In order to evaluate performance of the proposed controller, experiments were conducted with stroke patients. It is demonstrated from the experimental results that the robotic assistance decreases as a result of patients’ active participation. Similarly, increased robotics assistance is recorded in response to decrease in patient’s participation in the rehabilitation process. This work will aid in the further development of customized robot assisted physical therapy of ankle joint impairment.

Copyright (c) 2017 by ASME
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