Affiliation:
1. College of Mechanical and Electrical Engineering, Hohai University, Jiangsu Key Laboratory of Special Robot Technology, Changzhou 213022, China
Abstract
Rehabilitation robots are playing an important role in restoring movement ability of hemiplegic patients. However, most of these robots adopt motors as actuators. Considering human body is a flexible organism, rigid motors lack compliance when getting in touch with patients. This paper designs an ankle rehabilitation robot by employing pneumatic muscle actuators which are soft and have similar compliance with biological muscles. Analysis of motion characteristics of human ankle is performed, and relationship between angle and torque of human ankle acquired from experiment is studied. Driving mechanism using pneumatic muscle actuators is addressed carefully and ankle-rehabilitation robot is designed. Then, dynamics of the robot is established and structure optimization of the driving mechanism is performed. Consequently, prototype is manufactured and assembled.
Funder
China Ministry of Education & PLA Equipment Development Department
Fundamental Research Funds for the Central Universities
National Defense Science and Technology Industry
Natural Science Foundation of Jiangsu Province
Jiangsu Key Laboratory of Special Robot Technology
Publisher
World Scientific Pub Co Pte Lt
Cited by
9 articles.
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