Adaptive impedance control for robot-aided rehabilitation of ankle movements

  • Ibarra J
  • Dos Santos W
  • Krebs H
 et al. 
  • 25


    Mendeley users who have this article in their library.
  • 8


    Citations of this article.


This paper summarizes our on-going efforts to design adaptive assist-as-needed impedance controllers for ankle rehabilitation. Two robot assistance control strategies were evaluated: the first one attempted to normalize the combined robot and patient impedance via a complementary robot stiffness based on the estimate of the patient's stiffness and the second one searched for an optimal solution that minimized a cost function relating the rehabilitation goal and the interaction between patient and robot. For both strategies, the robot level of assistance was adapted based on patient's performance on distinct video games (serious games). Preliminary experimental results, employing the Anklebot in one stroke patient, confirmed the feasibility of the proposed control schemes in helping the subject to complete the tasks with optimal assistance from robot.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • J.C.P. Ibarra

  • W.M. Dos Santos

  • H.I. Krebs

  • A.A.G. Siqueira

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free