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Type: Journal article
Title: State-of-the-art robotic devices for ankle rehabilitation: mechanism and control review
Author: Hussain, S.
Jamwal, P.
Ghayesh, M.
Citation: Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2017; 231(12):1224-1234
Publisher: SAGE Publications
Issue Date: 2017
ISSN: 0954-4119
Statement of
Shahid Hussain, Prashant K Jamwal and Mergen H Ghayesh
Abstract: There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.
Keywords: Ankle robots; robotic orthoses; parallel robots; mechanism design; actuation; control strategies; stroke
Rights: © IMechE 2017. Reprints and permissions:
DOI: 10.1177/0954411917737584
Appears in Collections:Aurora harvest 3
Mechanical Engineering publications

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