Range-of-motion measurement with therapist-joined method for   robot-assisted ankle stretching

doi:10.1016/j.robot.2017.04.012

CORC > 北京大学 > 工学院

	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
	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).