This paper proposes an ankle rehabilitation robot to assist hemiplegic patients with movement training. The robot consists of two symmetric mechanisms, allowing stroke survivors to execute ankle rehabilitation training based on physiological differences. LPMS-B sensors measure the range of movement (ROM) of the human ankle joint, and the results are used for control parameters of the robot. Control strategies for constant speed training mode, constant torque training mode, and combination training mode are put forth based on the hardware system of the robot. Experiments verify the feasibility of the robot for ankle rehabilitation training. Results show a maximum mean error of 0.3364° between the trajectory of the intact side and the affected side, a maximum mean error of 0.0335°/s between target speed and experimental speed, and a maximum mean error of 0.0775 N m between target torque and experimental torque. The ankle joint rehabilitation robot proposed in this paper can help patients complete the training well under the three control modes.
ZhaiZChenJLiL. Aging in china: General trends, new characteristics and corresponding policies. J Shandong University (Philos Soc Sci)2016; 3: 27–35.
2.
YooDSonYKimDH, et al. Technology-assisted ankle rehabilitation improves balance and gait performance in stroke survivors: a randomized controlled study with 1-month follow-up. IEEE Trans Neural Syst Rehabilitation Eng2018; 26(12): 2315–2323.
3.
LiuLChenWZhouH, et al. Chinese stroke association guidelines for clinical management of cerebrovascular disorders: executive summary and 2019 update of clinical management of ischaemic cerebrovascular diseases. Stroke Vasc Neurol2020; 5(2): 159–176.
4.
LuiSKNguyenMH. Elderly stroke rehabilitation: overcoming the complications and its associated challenges. Curr Gerontol Geriatr Res2018; 2018: 9853837.
5.
TistadMvon KochLSjöstrandC, et al. What aspects of rehabilitation provision contribute to self-reported met needs for rehabilitation one year after stroke–amount, place, operator or timing?Health Expectations2013; 16(3): e24–e35.
6.
CramerSC. Intense rehabilitation therapy produces very large gains in chronic stroke. J Neurol, Neurosurg Psychiatry2019; 90(5): 497–497.
7.
SkilbeckCEWadeDTHewerRL, et al. Recovery after stroke. J Neurol Neurosurg Psychiatry1983; 46(1): 5–8.
8.
SteinJ. Aha/asa guidelines for adult stroke rehabilitation and recovery. In: Annual conference, New York, 2017.
9.
SunZWangCWeiJ, et al. Development of dual-arm lower limb rehabilitation robot for hemiplegic patients. In: 2019 Chinese control conference (CCC), Guangzhou, China, 27–30 July 2019, pp. 4531–4536. New York, NY: IEEE.
10.
TakahashiKZLewekMDSawickiGS. A neuromechanics-based powered ankle exoskeleton to assist walking post-stroke: a feasibility study. J Neuroeng Rehabilitation2015; 12(1): 1–13.
11.
YooDKimDHSeoKH, et al. The effects of technology-assisted ankle rehabilitation on balance control in stroke survivors. IEEE Trans Neural Syst Rehabilitation Eng2019; 27(9): 1817–1823.
12.
RenYWuYNYangCY, et al. Developing a wearable ankle rehabilitation robotic device for in-bed acute stroke rehabilitation. IEEE Trans Neural Syst Rehabilitation Eng2016; 25(6): 589–596.
13.
RahmanMHRahmanMJCristobalO, et al. Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements. Robotica2015; 33(1): 19–39.
14.
PerryJCRosenJBurnsS. Upper-limb powered exoskeleton design. IEEE/ASME Trans Mechatron2007; 12(4): 408–417.
15.
RankyRGSivakMLLewisJA, et al. Modular mechatronic system for stationary bicycles interfaced with virtual environment for rehabilitation. J Neuroeng Rehabilitation2014; 11(1): 1–16.
16.
DeutschJEMyslinskiMJKafriM, et al. Feasibility of virtual reality augmented cycling for health promotion of people post-stroke. J Neurol Phys Ther: JNPT2013; 37(3): 10.
17.
ZhouZZhouYWangN, et al. On the design of a robot-assisted rehabilitation system for ankle joint with contracture and/or spasticity based on proprioceptive neuromuscular facilitation. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May–07 June 2014, pp. 736–741. New York, NY: IEEE
18.
GironeMBurdeaGBouzitM, et al. A stewart platform-based system for ankle telerehabilitation. Auton Robots2001; 10(2): 203–212.
19.
LiuGGaoJYangS, et al. The configuration of the ankle rehabilitation exercises parallel mechanism and its kinematics analysis. Develop Innov Machine Electric Prod2005; 18(5): 13–15.
20.
ZhaoTSYuHBDaiJS. An ankle rehabilitation device based on 3-rss/s parallel mechanism. J Yanshan Univ2005; 29(6): 471–475.
21.
LiWHuangJWangC, et al. Design of 6-dof parallel ankle rehabilitation robot. In: 2018 IEEE international conference on cyborg and bionic systems (CBS), Shenzhen, China, 25–27 October 2018, pp. 532–536. New York, NY: IEEE.
22.
MoltedoMBačekTSerrienB, et al. Walking with a powered ankle-foot orthosis: the effects of actuation timing and stiffness level on healthy users. J Neuroeng Rehabilitation2020; 17(1): 1–15.
23.
EmmensARVan AsseldonkEHVan Der KooijH. Effects of a powered ankle-foot orthosis on perturbed standing balance. J Neuroeng Rehabilitation2018; 15(1): 1–13.
24.
RahmanSMIkeuraR. A novel variable impedance compact compliant ankle robot for overground gait rehabilitation and assistance. Procedia Eng2012; 41: 522–531.
25.
YanHYangC. Design and validation of a lower limb exoskeleton employing the recumbent cycling modality for post-stroke rehabilitation. Proc IMechE, Part C: J Mechanical Engineering Science2014; 228(18): 3517–3525.
26.
RoyAKrebsHIWilliamsDJ, et al. Robot-aided neurorehabilitation: a novel robot for ankle rehabilitation. IEEE Trans Robot2009; 25(3): 569–582.
27.
MurphyTHCorbettD. Plasticity during stroke recovery: from synapse to behaviour. Nat Rev Neurosci2009; 10(12): 861–872.
28.
JohanssonBB. Brain plasticity and stroke rehabilitation: the willis lecture. Stroke2000; 31(1): 223–230.
29.
ZiemannUMuellbacherWHallettM, et al. Modulation of practice-dependent plasticity in human motor cortex. Brain2001; 124(6): 1171–1181.
30.
SalterRBFieldP. The effects of continuous compression on living articular cartilage: an experimental investigation. JBJS1960; 42(1): 31–90.
31.
MittlmeierTWeilerASöhnT, et al. Functional monitoring during rehabilitation following anterior cruciate ligament reconstruction. Clin Biomech1999; 14(8): 576–584.
32.
ThiemeHMorkischNMehrholzJ, et al. Mirror therapy for improving motor function after stroke: update of a cochrane review. Stroke2019; 50(2): e26–e27.
33.
GandhiDBSterbaAKhatterH, et al. Mirror therapy in stroke rehabilitation: Current perspectives. Ther Clin Risk Manag2020; 16: 75.
34.
LiuQWangCLongJJ, et al. Development of a new robotic ankle rehabilitation platform for hemiplegic patients after stroke. J Healthc Eng2018; 2018: 3867243.
