NDLI: An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries

Content Provider	IEEE Xplore Digital Library
Author	Jamwal, P.K. Xie, S.Q. Hussain, S. Parsons, J.G.
Copyright Year	1996
Abstract	This paper presents the development of a novel adaptive wearable ankle robot for the treatments of ankle sprain through physical rehabilitation. The ankle robot has a bioinspired design, devised after a careful study of the improvement opportunities in the existing ankle robots. Robot design is adaptable to subjects of varying physiological abilities and age groups. Ankle robot employs lightweight but powerful pneumatic muscle actuators (PMA) which mimics skeletal muscles in actuation. To address nonlinear characteristics of PMA, a fuzzy-based disturbance observer (FBDO) has been developed. Another instance of an adaptive fuzzy logic controller based on Mamdani inference has been developed and appended with the FBDO to compensate for the transient nature of the PMA. With the proposed control scheme, it is possible to simultaneously control four parallel actuators of the ankle robot and achieve three rotational degrees of freedom. To evaluate the robot design, the disturbance observer, and the adaptive fuzzy logic controller, experiments were performed. The ankle robot was used by a neurologically intact subject. The robot-human interaction was kept as active-passive while the robot was operated on predefined trajectories commonly adopted by the therapists. Trajectory tracking results are reported in the presence of an unpredicted human user intervention, use of compliant and nonlinear actuators, and parallel kinematic structure of the ankle robot.
Starting Page	64
Ending Page	75
Page Count	12
File Size	1072406
File Format	PDF
ISSN	10834435
Volume Number	19
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Joints Injuries Robot sensing systems Robot kinematics Muscles wearable ankle rehabilitation robot Adaptive fuzzy logic controller fuzzy-based disturbance observer (FBDO) pneumatic muscle actuators (PMAs)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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