Robots are being increasingly used by physical therapists to carry out rehabilitation treatments owing to their ability of providing repetitive, controlled, and autonomous training sessions. Enhanced treatment outcomes can be achieved by encouraging patients' active participation besides robotic assistance. Advanced control strategies are required to be designed and implemented for the rehabilitation robots in order to persuade patients to contribute actively during the treatments. In this paper, an adaptive impedance control approach is developed and implemented on a parallel ankle rehabilitation robot. The ankle robot was designed based on a parallel mechanism and actuated using four pneumatic muscle actuators (PMAs) to provide three rotational degrees-of-freedom (DOFs) to the ankle joint. The proposed controller adapts the parallel robot's impedance according to the patients' active participation to provide customized robotic assistance. In order to evaluate performance of the proposed controller, experiments were conducted with stroke patients. It is demonstrated from the experimental results that the robotic assistance decreases as a result of patients' active participation. Similarly, increased robotics assistance is recorded in response to decrease in patient's participation in the rehabilitation process. This work will aid in the further development of customized robot-assisted physical therapy of ankle joint impairment.
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November 2017
Research-Article
Adaptive Impedance Control of Parallel Ankle Rehabilitation Robot
Prashant K. Jamwal,
Prashant K. Jamwal
Department of Electrical and
Electronics Engineering,
Nazarbayev University,
53 Kabanbay Batyr Avenue,
Astana 010000, Kazakhstan
e-mail: prashant.jamwal@nu.edu.kz
Electronics Engineering,
Nazarbayev University,
53 Kabanbay Batyr Avenue,
Astana 010000, Kazakhstan
e-mail: prashant.jamwal@nu.edu.kz
Search for other works by this author on:
Shahid Hussain,
Shahid Hussain
School of Mechanical,
Materials, Mechatronic and
Biomedical Engineering,
University of Wollongong,
Northfields Avenue,
Wollongong, NSW 2522, Australia
e-mail: shussain@uow.edu.au
Materials, Mechatronic and
Biomedical Engineering,
University of Wollongong,
Northfields Avenue,
Wollongong, NSW 2522, Australia
e-mail: shussain@uow.edu.au
Search for other works by this author on:
Mergen H. Ghayesh,
Mergen H. Ghayesh
School of Mechanical Engineering,
University of Adelaide,
Adelaide, SA 5005, Australia
e-mail: mergen.ghayesh@adelaide.edu.au
University of Adelaide,
Adelaide, SA 5005, Australia
e-mail: mergen.ghayesh@adelaide.edu.au
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Svetlana V. Rogozina
Svetlana V. Rogozina
Department of Rehabilitation,
Institute for Scientific Research of
Traumatology and Orthopedics,
Astana 010000, Kazakhstan
e-mail: svetlanarogozina@yahoo.com
Institute for Scientific Research of
Traumatology and Orthopedics,
Astana 010000, Kazakhstan
e-mail: svetlanarogozina@yahoo.com
Search for other works by this author on:
Prashant K. Jamwal
Department of Electrical and
Electronics Engineering,
Nazarbayev University,
53 Kabanbay Batyr Avenue,
Astana 010000, Kazakhstan
e-mail: prashant.jamwal@nu.edu.kz
Electronics Engineering,
Nazarbayev University,
53 Kabanbay Batyr Avenue,
Astana 010000, Kazakhstan
e-mail: prashant.jamwal@nu.edu.kz
Shahid Hussain
School of Mechanical,
Materials, Mechatronic and
Biomedical Engineering,
University of Wollongong,
Northfields Avenue,
Wollongong, NSW 2522, Australia
e-mail: shussain@uow.edu.au
Materials, Mechatronic and
Biomedical Engineering,
University of Wollongong,
Northfields Avenue,
Wollongong, NSW 2522, Australia
e-mail: shussain@uow.edu.au
Mergen H. Ghayesh
School of Mechanical Engineering,
University of Adelaide,
Adelaide, SA 5005, Australia
e-mail: mergen.ghayesh@adelaide.edu.au
University of Adelaide,
Adelaide, SA 5005, Australia
e-mail: mergen.ghayesh@adelaide.edu.au
Svetlana V. Rogozina
Department of Rehabilitation,
Institute for Scientific Research of
Traumatology and Orthopedics,
Astana 010000, Kazakhstan
e-mail: svetlanarogozina@yahoo.com
Institute for Scientific Research of
Traumatology and Orthopedics,
Astana 010000, Kazakhstan
e-mail: svetlanarogozina@yahoo.com
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 21, 2016; final manuscript received March 31, 2017; published online July 20, 2017. Assoc. Editor: Evangelos Papadopoulos.
J. Dyn. Sys., Meas., Control. Nov 2017, 139(11): 111006 (7 pages)
Published Online: July 20, 2017
Article history
Received:
December 21, 2016
Revised:
March 31, 2017
Citation
Jamwal, P. K., Hussain, S., Ghayesh, M. H., and Rogozina, S. V. (July 20, 2017). "Adaptive Impedance Control of Parallel Ankle Rehabilitation Robot." ASME. J. Dyn. Sys., Meas., Control. November 2017; 139(11): 111006. https://doi.org/10.1115/1.4036560
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