TY - JOUR
T1 - AssistOn-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation
AU - Erdogan, Ahmetcan
AU - Celebi, Besir
AU - Satici, Aykut Cihan
AU - Patoglu, Volkan
N1 - We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOn-Ankle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/proprioception exercises.
PY - 2017/3
Y1 - 2017/3
N2 - We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOnAnkle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/ proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device.
AB - We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOnAnkle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/ proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device.
KW - ankle exoskeleton
KW - reconfigurable mechanisms
KW - rehabilitation robotics
KW - series elastic actuation
UR - http://dx.doi.org/10.1007/s10514-016-9551-7
U2 - 10.1007/s10514-016-9551-7
DO - 10.1007/s10514-016-9551-7
M3 - Article
VL - 41
JO - Autonomous Robots
JF - Autonomous Robots
IS - 3
ER -