This chapter begins with an overview of the design requirements of an ankle rehabilitation robot. A suitable kinematic structure of the robot is then proposed. Workspace, singularity and force analyses of mechanisms having this structure are then presented. This is followed by a description of the robot hardware and interface. Operation of the developed rehabilitation robot relies on implementation of a suitable interaction controller, and a force-based impedance control approach had been taken in this research, whereby the desired robot impedance is realised through actuator-level force control. This chapter details the development of the multi-input multi-output (MIMO) actuator force controller devised in this work.
CITATION STYLE
Development of the ankle rehabilitation robot. (2016). In Springer Tracts in Advanced Robotics (Vol. 108, pp. 223–257). Springer Verlag. https://doi.org/10.1007/978-3-319-19896-5_8
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