中文版 | English
Title

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Author
Corresponding AuthorDai, Jian S.
Publication Years
2023-02
DOI
Source Title
ISSN
1942-4302
EISSN
1942-4310
Volume15
Abstract
This paper proposes a novel reconfigurable exoskeleton for ankle rehabilitation, which is capable of realizing both static and dynamic rehabilitation exercises. The conceptual design is based on a reduced representation that regards the ankle–foot complex as a movable spherical joint, so as to better replicate the physical scenario. The screw theory-based analysis results indicate that in both rehabilitation modes, the proposed exoskeleton is capable of auto-matching its rotation center with that of the ankle complex no matter how the latter moves, once it is worn by the patients. In the 2-degrees-of-freedom (DOF) rehabilitation configuration, an analysis based on a 15-point reduced model provides the basis for assessing the kinematics performance in a case where the motion of complex’s center is considered. Also, the results verify that the achieved workspace can always cover the prescribed rotation range without generating singularities, as long as the center moves within the defined cylindrical area. The demonstrated 3-DOF rehabilitation configuration possesses a partially decoupled-control capability. The singularity surface can be effectively expelled from the prescribed workspace by rotating the brace. Besides, the exoskeleton’s dexterity varies smoothly in the whole workspace, and its performance can be further improved by evenly distributing the drive links.
Copyright © 2022 by ASME.
Indexed By
EI ; SCI
Language
English
SUSTech Authorship
Corresponding
Funding Project
The authors gratefully acknowledge the support from the Engineering and Physical Sciences Research Council (EPSRC) of the United Kingdom under Grant No. EP/S019790/1 and China Scholarship Council (CSC). The authors also would like to give special thanks to Professor Sheng Quan Xie from University of Leeds for his valuable advice and great help.
WOS Accession No
WOS:000906758100004
Publisher
EI Accession Number
20225113284347
EI Keywords
Conceptual design ; Exoskeleton (Robotics) ; Kinematics ; Machine design ; Wearable technology
ESI Classification Code
Rehabilitation Engineering and Assistive Technology:461.5 ; Mechanical Design:601 ; Robotics:731.5 ; Mechanics:931.1
Data Source
EV Compendex
Citation statistics
Cited Times [WOS]:1
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/519718
DepartmentSouthern University of Science and Technology
Affiliation
1.Centre for Robotics Research, Department of Engineering, Faculty of Natural, Mathematical and Engineering Sciences, King’s College London, London; WC2R 2LS, United Kingdom
2.Southern University of Science and Technology, Guangdong, Shenzhen; 518055, China
3.Centre for Robotics Research, King’s College London, London; WC2R 2LS, United Kingdom
Corresponding Author AffilicationSouthern University of Science and Technology
Recommended Citation
GB/T 7714
Wang, Tun,Spyrakos-Papastavridis, Emmanouil,Dai, Jian S.. Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time[J]. Journal of Mechanisms and Robotics-Transactions of the ASME,2023,15.
APA
Wang, Tun,Spyrakos-Papastavridis, Emmanouil,&Dai, Jian S..(2023).Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time.Journal of Mechanisms and Robotics-Transactions of the ASME,15.
MLA
Wang, Tun,et al."Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time".Journal of Mechanisms and Robotics-Transactions of the ASME 15(2023).
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