Admittance Control of the Ankle Mechanism in a Rotational Orthosis for Walking with Arm Swing

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI:10.1109/ICORR.2019.8779408

Zaile Mu, Juan Fang, Qiuju Zhang

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引用次数: 1

Abstract

In order to provide an effective system for rehabilitation of walking, a new rotational orthosis for walking with arm swing, called ROWAS II, was developed. This study focused on development and implementation of admittance control of the ankle mechanism in the ROWAS II system for promoting active training. Firstly, the mechanical structure of the ankle mechanism is briefly introduced. Then the algorithms of the closed-loop position control and the admittance control for the ankle mechanism are described in detail. Four able-bodied participants were recruited to use the ankle mechanism running in passive and active modes. The experimental results showed that the ankle mechanism well tracked the target trajectory in passive mode. In active mode, the participants interacted with the ankle mechanism, and adjusted their ankle movement based on their active force. The ankle mechanism has the technical potential to meet the requirements of passive and active training in the ankle movement for patients in different post-stroke stages.

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旋臂行走矫形器踝关节机构导纳控制

为了提供一个有效的步行康复系统，一种新的旋转矫形器与手臂摆动行走，称为ROWAS II，被开发出来。本研究的重点是开发和实施ROWAS II系统中踝关节机制的准入控制，以促进主动训练。首先，简要介绍了踝关节机构的机械结构。然后详细介绍了踝关节机构的闭环位置控制算法和导纳控制算法。招募了四名健全的参与者，使用踝关节机械装置在被动和主动模式下运行。实验结果表明，在被动模式下，踝关节机构能够很好地跟踪目标轨迹。在主动模式下，参与者与踝关节机构互动，并根据自己的主动力量调整踝关节的运动。该踝关节机构具有满足脑卒中后不同阶段患者踝关节运动被动和主动训练要求的技术潜力。

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2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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