ArticleFrontiers in neurorobotics2017
Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.
Article in Frontiers in neurorobotics, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers, 2 of them syntheses that pooled it.
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Who cites it
7 citing papers in PubMed, 2 syntheses or guidelines pooled it, 38 citations in OpenAlex.
- State of the art in parallel ankle rehabilitation robot: a systematic review.Journal of neuroengineering and rehabilitation · 2021Pooled it
- Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review.Frontiers in neurorobotics · 2019Pooled it
- Model Predictive Control with a PSO Modelling Approach for Position Control of a Compliant Ankle Rehabilitation Robot.Biomimetics (Basel, Switzerland) · 2026Article
- Impedance Iterative Learning Backstepping Control for Output-Constrained Multisection Continuum Arms Based on PMA.Micromachines · 2022Article
- An Adaptive Time-Varying Impedance Controller for Manipulators.Frontiers in neurorobotics · 2022Article
- Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization.PloS one · 2021Article
- Configuration Synthesis and Performance Analysis of Finger Soft Actuator.Applied bionics and biomechanics · 2018Article
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 3 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient's active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant's assessment. The robot reduces its assistance output when participants contribute more and
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.