Design and implementation of a two-DOF robotic system with an adjustable force limiting mechanism for ankle rehabilitation

Vahid Mehrabi, Seyed Farokh Atashzar, Heidar A. Talebi, Rajni V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages577-583
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Mehrabi, V., Atashzar, S. F., Talebi, H. A., & Patel, R. V. (2019). Design and implementation of a two-DOF robotic system with an adjustable force limiting mechanism for ankle rehabilitation. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 577-583). [8794028] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794028