Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching | |
Chen, Geng ; Zhou, Zhihao ; Wang, Ninghua ; Wang, Qining | |
刊名 | ROBOTICS AND AUTONOMOUS SYSTEMS
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2017 | |
关键词 | ROM measurement Ankle stretching Robotic rehabilitation SLIDING MODE CONTROL MYOTATIC REFLEXES POSITION CONTROL REHABILITATION POSTSTROKE MOVEMENT INJURIES ADULTS SYSTEM |
DOI | 10.1016/j.robot.2017.04.012 |
英文摘要 | The range of motion (ROM) measurement is an important issue in a robot-assisted ankle-foot rehabilitation. This study presents a therapist-joined method to improve the ROM measurement accuracy of a robotic ankle-foot rehabilitation system by combining therapist-joined zero-torque control and proxy based sliding mode control. The zero-torque control is applied when measuring the subject's range of motion to obtain its extreme joint angle and largest resistance torque. Moreover, a controller switch is applied to ensure that the extreme joint angle is appropriate. Comparative studies between the ROM measurement using a protractor and the proposed method are then performed, comparing the ankle resistance torque variations during stretching under different ROM-measuring results. Ten able-bodied subjects are recruited for this experiment. The results show that the proposed method is feasible in improving the measured ROM accuracy. In addition, a more accurate ROM leads to a larger improvement of the ankle stiffness. (C) 2017 Elsevier B.V. All rights reserved.; Beijing Municipal Science and Technology Project [Z151100003715001, Z151100000915073]; National Natural Science Foundation of China [91648207, 61533001]; Beijing Nova Program [Z141101001814001]; SCI(E); ARTICLE; 34-42; 94 |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.pku.edu.cn/handle/20.500.11897/471945] ![]() |
专题 | 工学院 |
推荐引用方式 GB/T 7714 | Chen, Geng,Zhou, Zhihao,Wang, Ninghua,et al. Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2017. |
APA | Chen, Geng,Zhou, Zhihao,Wang, Ninghua,&Wang, Qining.(2017).Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching.ROBOTICS AND AUTONOMOUS SYSTEMS. |
MLA | Chen, Geng,et al."Range-of-motion measurement with therapist-joined method for robot-assisted ankle stretching".ROBOTICS AND AUTONOMOUS SYSTEMS (2017). |
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