AssistOn-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

Erdoğan, Ahmetcan and Çelebi, Beşir and Satıcı, Aykut Cihan and Patoğlu, Volkan (2016) AssistOn-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation. Autonomous Robots . ISSN 0929-5593 (Print) 1573-7527 (Online) Published Online First

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We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOn-Ankle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/ proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and helps with the space requirements, but also it shortens the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device.
Item Type: Article
Uncontrolled Keywords: Rehabilitation robotics, Ankle exoskeleton, Reconfigurable mechanisms, Series elastic actuation
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 12 Nov 2016 15:18
Last Modified: 12 Nov 2016 15:18

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