TY - GEN
T1 - Design and implementation of a two-DOF robotic system with an adjustable force limiting mechanism for ankle rehabilitation
AU - Mehrabi, Vahid
AU - Atashzar, Seyed Farokh
AU - Talebi, Heidar A.
AU - Patel, Rajni V.
N1 - Funding Information:
* This work was supported by Canadian Institutes of Health Research (CIHR) and the Natural Sciences and Engineering Research Council (NSERC) under the Collaborative Health Research Projects (CHRP) Grant #316170 and an AGE-WELL Network of Centres of Excellence Grant AW CRP 2015-WP5.3. S.F. Atashzar is sponsored by an NSERC Postdoctoral Fellowship.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - This paper presents a novel light-weight back-drivable inherently-safe robotic mechanism for delivering ankle rehabilitation therapies. The robot is designed to be used as the ankle module of a multi-purpose lower-limb rehabilitation robot. A novel friction-based safety feature has been introduced that enables mechanical adjustment of the maximum amount of allowable transfer forces and torques to the patient's limb. The design procedure, mathematical modeling and experimental validations are provided to demonstrate the performance of the proposed system.
AB - This paper presents a novel light-weight back-drivable inherently-safe robotic mechanism for delivering ankle rehabilitation therapies. The robot is designed to be used as the ankle module of a multi-purpose lower-limb rehabilitation robot. A novel friction-based safety feature has been introduced that enables mechanical adjustment of the maximum amount of allowable transfer forces and torques to the patient's limb. The design procedure, mathematical modeling and experimental validations are provided to demonstrate the performance of the proposed system.
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U2 - 10.1109/ICRA.2019.8794028
DO - 10.1109/ICRA.2019.8794028
M3 - Conference contribution
AN - SCOPUS:85071475921
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 577
EP - 583
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -