Wearable Ankle Rehabilitation Robot : Design and Control Synthesis

Prashant Kumar Jamwal

ISBN 10: 3659109916 / ISBN 13: 9783659109911

Verlag: LAP LAMBERT Academic Publishing, 2012

Beschreibung

nach der Bestellung gedruckt Neuware - Printed after ordering - The ankle joint is a complex structure in the human musculoskeletal system and due to its location; the ankle joint is also the most common site of sprain injuries. Rehabilitation treatment reinstates ankle motions but the conventional approach is slow and tedious. Robot assisted treatment on the other hand has shown encouraging outcomes. Nevertheless, existing ankle robots suffer from inadequate design besides actuation and control related problems. This book presents the development of a wearable ankle robot which has bio inspired design, actuation and control. The parallel mechanism based design emulates the human musculoskeletal arrangement of actuators and provides natural ankle motions. Pneumatic muscle actuators, used in the robot, also display human muscle like characteristics. The adaptive control of the robot effectively scaffolds subjects in achieving rehabilitation goals. In the process, a new approach for multi-objective optimization has also been proposed. The issues discussed and analysed in the text will help shed some light on the prevailing issues of wearable robots in order to facilitate further research.

Bestandsnummer des Verkäufers 9783659109911

Bibliografische Details

• Titel: Wearable Ankle Rehabilitation Robot : Design and Control Synthesis
• Verlag: LAP LAMBERT Academic Publishing
• Erscheinungsjahr: 2012
• Sprache: Englisch
• ISBN-10: 3659109916
• ISBN-13: 9783659109911
• Einband: Taschenbuch
• Zustand: Neu
• Abmessungen: 220B x 150 H x 14 T Millimeter Breite: 220 mm, Höhe: 150 mm, Tiefe: 14 mm
• Gewicht: 358 Gramm

Über diesen Titel

Inhaltsangabe

The ankle joint is a complex structure in the human musculoskeletal system and due to its location; the ankle joint is also the most common site of sprain injuries. Rehabilitation treatment reinstates ankle motions but the conventional approach is slow and tedious. Robot assisted treatment on the other hand has shown encouraging outcomes. Nevertheless, existing ankle robots suffer from inadequate design besides actuation and control related problems. This book presents the development of a wearable ankle robot which has bio inspired design, actuation and control. The parallel mechanism based design emulates the human musculoskeletal arrangement of actuators and provides natural ankle motions. Pneumatic muscle actuators, used in the robot, also display human muscle like characteristics. The adaptive control of the robot effectively scaffolds subjects in achieving rehabilitation goals. In the process, a new approach for multi-objective optimization has also been proposed. The issues discussed and analysed in the text will help shed some light on the prevailing issues of wearable robots in order to facilitate further research.