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Ankle Active Rehabilitation Strategies Analysis Based on the Characteristics of Human and Robotic Integrated Biomechanics Simulation Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Authors : Chi Zhang, Jiwei Hu, Qingsong Ai, Wei Meng, Quan Liu

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10 N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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previous chapter Motion Planning and Experimental Validation of a Novel Robotic Device for Assistive Gait Training
next chapter Gait Recognition Using GA-SVM Method Based on Electromyography Signal
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Metadata
Title
Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot
Authors
Chi Zhang
Jiwei Hu
Qingsong Ai
Wei Meng
Quan Liu
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65288-7

Electronic ISBN: 978-3-319-65289-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65289-4_29

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