Compliance adaptation of an intrinsically soft ankle rehabilitation robot driven by pneumatic muscles

@article{Meng2017ComplianceAO,
  title={Compliance adaptation of an intrinsically soft ankle rehabilitation robot driven by pneumatic muscles},
  author={Wei Meng and Quan Liu and Mingming Zhang and Qingsong Ai and Sheng Quan Xie},
  journal={2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2017},
  pages={82-87}
}
Pneumatic muscles (PMs)-driven robots become more and more popular in medical and rehabilitation field as the actuators are intrinsically complaint and thus are safer for patients than traditional rigid robots. This paper proposes a new compliance adaptation method of a soft ankle rehabilitation robot that is driven by four pneumatic muscles enabling three rotational movement degrees of freedom (DoFs). The stiffness of a PM is dominated by the nominal pressure. It is possible to control the… CONTINUE READING

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