title   
  

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

Satıcı, Aykut Cihan and Erdoğan, Ahmetcan and Patoğlu, Volkan (2009) Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance. In: IEEE 11th International Conference on Rehabilitation Robotics, 2009 (ICORR 2009), Kyoto, Japan

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Official URL: http://dx.doi.org/10.1109/ICORR.2009.5209513

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.

Item Type:Papers in Conference Proceedings
Subjects:UNSPECIFIED
ID Code:13037
Deposited By:Volkan Patoğlu
Deposited On:02 Dec 2009 15:07
Last Modified:26 May 2010 10:37

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