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ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Biomedical Robotics
Volume 11 - 2024 |
doi: 10.3389/frobt.2024.1453097
This article is part of the Research Topic Latest Trends in Bio-Inspired Medical Robotics: Structural Design, Manufacturing, Sensing, Actuation and Control View all 4 articles
A Compact Motorized End-effector for Ankle Rehabilitation Training
Provisionally accepted
Wu Renxiang
1
Mingyang Luo
1
Jiaming Fan
1
Jingting Ma
1
Naiwen Zhang
1
Jianjun Li
2
Qiuyuan Li
2
Fei GAO
3*
Guo Dan
1*- 1 Shenzhen University, Shenzhen, China
- 2 Shenzhen University General Hospital, Shenzhen, China
- 3 Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, Guangdong Province, China
This paper introduces a compact end-effector ankle rehabilitation robot (CEARR) system for addressing ankle range of motion (ROM) rehabilitation. The CEARR features a bilaterally symmetrical rehabilitation structure, with each side possessing three degrees of freedom (DOF) driven by three independently designed actuators. The working intervals of each actuator are separated by a series connection, ensuring they operate without interference to accommodate the dorsiflexion/plantarflexion (DO/PL), inversion/eversion (IN/EV), and adduction/abduction (AD/AB) DOF requirements for comprehensive ankle rehabilitation. In addition, we integrated an actuator and foldable brackets to accommodate patients in varied postures. We decoded the motor intention based on the surface electromyography (sEMG) and torque signals generated by the subjects' ankle joints in voluntary rehabilitation. Besides, we designed a real-time voluntary-triggered control (VTC) strategy to enhance the rehabilitation effect, in which the root mean square (RMS) of sEMG was utilized to trigger and adjust the CEARR rehabilitation velocity support. We verified the consistency of voluntary movement with CEARR rehabilitation support output for four healthy subjects on a nonlinear sEMG signal with an 𝑅 2 metric of approximately 0.67. We tested the consistency of triggering velocity trends with a linear torque signal for one healthy individual with an 𝑅 2 metric of approximately 0.99.
Keywords: Ankle rehabilitation robot, ROM rehabilitation, Stroke, Motion intent recognition, Lower limb rehabilitation robot
Received: 22 Jun 2024; Accepted: 22 Jul 2024.
Copyright: © 2024 Renxiang, Luo, Fan, Ma, Zhang, Li, Li, GAO and Dan. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Fei GAO, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen, 518055, Guangdong Province, China
Guo Dan, Shenzhen University, Shenzhen, China
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