Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

Aykut Cihan Satici; Ahmetcan Erdogan; Volkan Patoglu

doi:10.1109/ICORR.2009.5209513

Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

Aykut Cihan Satici, Ahmetcan Erdogan, Volkan Patoglu

Mechanical and Biomedical Engineering Department

Sabanci University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

38 Scopus citations

Abstract

This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The prototype of the device is also presented.

Original language	English
Title of host publication	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages	257-264
Number of pages	8
DOIs	https://doi.org/10.1109/ICORR.2009.5209513
State	Published - 2009
Event	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan Duration: 23 Jun 2009 → 26 Jun 2009

Publication series

Name	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Conference

Conference	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Country/Territory	Japan
City	Kyoto
Period	23/06/09 → 26/06/09

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10.1109/ICORR.2009.5209513

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Satici, A. C., Erdogan, A., & Patoglu, V. (2009). Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 (pp. 257-264). Article 5209513 (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009). https://doi.org/10.1109/ICORR.2009.5209513

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title = "Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance",

abstract = "This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The prototype of the device is also presented.",

author = "Satici, {Aykut Cihan} and Ahmetcan Erdogan and Volkan Patoglu",

year = "2009",

doi = "10.1109/ICORR.2009.5209513",

language = "English",

isbn = "9781424437894",

series = "2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009",

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booktitle = "2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009",

note = "2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 ; Conference date: 23-06-2009 Through 26-06-2009",

}

Satici, AC, Erdogan, A & Patoglu, V 2009, Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance. in 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009., 5209513, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, pp. 257-264, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, Japan, 23/06/09. https://doi.org/10.1109/ICORR.2009.5209513

Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance. / Satici, Aykut Cihan; Erdogan, Ahmetcan; Patoglu, Volkan.
2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 257-264 5209513 (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The prototype of the device is also presented.

AB - This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The prototype of the device is also presented.

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BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

T2 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Y2 - 23 June 2009 through 26 June 2009

ER -

Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance

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