Review on design and control aspects of ankle rehabilitation robots

Prashant K. Jamwal, Shahid Hussain, Sheng Q. Xie

Research output: Contribution to journalReview article

21 Citations (Scopus)

Abstract

Ankle rehabilitation robots can play an important role in improving outcomes of the rehabilitation treatment by assisting therapists and patients in number of ways. Consequently, few robot designs have been proposed by researchers which fall under either of the two categories, namely, wearable robots or platform-based robots. This paper presents a review of both kinds of ankle robots along with a brief analysis of their design, actuation and control approaches. While reviewing these designs it was observed that most of them are undesirably inspired by industrial robot designs. Taking note of the design concerns of current ankle robots, few improvements in the ankle robot designs have also been suggested. Conventional position control or force control approaches, being used in the existing ankle robots, have been reviewed. Apparently, opportunities of improvement also exist in the actuation as well as control of ankle robots. Subsequently, a discussion on most recent research in the development of novel actuators and advanced controllers based on appropriate physical and cognitive human-robot interaction has also been included in this review.

Original languageEnglish
Pages (from-to)93-101
Number of pages9
JournalDisability and Rehabilitation: Assistive Technology
Volume10
Issue number2
DOIs
Publication statusPublished - 1 Mar 2015
Externally publishedYes

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