{"title":"一种基于六自由度机械臂的柔性踝关节康复机器人系统","authors":"Li Jin , Liuyi Ling , Chengjun Wang , Yiming Liu","doi":"10.1016/j.asej.2025.103773","DOIUrl":null,"url":null,"abstract":"<div><h3>Background</h3><div>To address the limitations of conventional ankle rehabilitation robots in accuracy, safety, and quantitative assessment, this study proposes a novel robot arm-based system integrating compliance control.</div></div><div><h3>Methods</h3><div>We developed a novel robotic system using a serial 6-degree-of-freedom (6-DOF) robot arm. By defining the ankle joint center (AJC) as the midpoint between the medial and lateral malleolus, a coordinate transformation method dynamically coincides the robotic rotational center (RRC) with the AJC, validated through a novel alignment accuracy metric. A real-time gravity compensation algorithm based on a 6-axis force/torque (F/T) sensor was designed to quantify ankle joint torques. The measured torques were mapped to Modified Ashworth Scale (MAS) criteria to enable quantitative muscle tension assessment, improving objectivity over manual evaluations. Three compliance rehabilitation training modes, namely patient-passive training, patient-active training, and resistance training, are designed based on the admittance control strategy, which also support simultaneous multi-axis compliance training.</div></div><div><h3>Results</h3><div>The experimental results on five subjects show that the designed training modes performed well in terms of compliance and trajectory tracking. The alignment accuracy for all three training modes was less than 1.59 mm, as validated by a motion capture system. The system successfully recorded and classified torque profiles indicative of different levels of muscle tension.</div></div><div><h3>Conclusion</h3><div>The integration of high-precision sensing and adaptive control provides a standardized measurement platform for ankle rehabilitation, promoting the translation of robotic systems into clinical practice.</div></div>","PeriodicalId":48648,"journal":{"name":"Ain Shams Engineering Journal","volume":"16 12","pages":"Article 103773"},"PeriodicalIF":5.9000,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A novel compliant ankle rehabilitation robotic system based on a 6-DOF robot arm\",\"authors\":\"Li Jin , Liuyi Ling , Chengjun Wang , Yiming Liu\",\"doi\":\"10.1016/j.asej.2025.103773\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><h3>Background</h3><div>To address the limitations of conventional ankle rehabilitation robots in accuracy, safety, and quantitative assessment, this study proposes a novel robot arm-based system integrating compliance control.</div></div><div><h3>Methods</h3><div>We developed a novel robotic system using a serial 6-degree-of-freedom (6-DOF) robot arm. By defining the ankle joint center (AJC) as the midpoint between the medial and lateral malleolus, a coordinate transformation method dynamically coincides the robotic rotational center (RRC) with the AJC, validated through a novel alignment accuracy metric. A real-time gravity compensation algorithm based on a 6-axis force/torque (F/T) sensor was designed to quantify ankle joint torques. The measured torques were mapped to Modified Ashworth Scale (MAS) criteria to enable quantitative muscle tension assessment, improving objectivity over manual evaluations. Three compliance rehabilitation training modes, namely patient-passive training, patient-active training, and resistance training, are designed based on the admittance control strategy, which also support simultaneous multi-axis compliance training.</div></div><div><h3>Results</h3><div>The experimental results on five subjects show that the designed training modes performed well in terms of compliance and trajectory tracking. The alignment accuracy for all three training modes was less than 1.59 mm, as validated by a motion capture system. The system successfully recorded and classified torque profiles indicative of different levels of muscle tension.</div></div><div><h3>Conclusion</h3><div>The integration of high-precision sensing and adaptive control provides a standardized measurement platform for ankle rehabilitation, promoting the translation of robotic systems into clinical practice.</div></div>\",\"PeriodicalId\":48648,\"journal\":{\"name\":\"Ain Shams Engineering Journal\",\"volume\":\"16 12\",\"pages\":\"Article 103773\"},\"PeriodicalIF\":5.9000,\"publicationDate\":\"2025-09-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Ain Shams Engineering Journal\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S2090447925005143\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Ain Shams Engineering Journal","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2090447925005143","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
A novel compliant ankle rehabilitation robotic system based on a 6-DOF robot arm
Background
To address the limitations of conventional ankle rehabilitation robots in accuracy, safety, and quantitative assessment, this study proposes a novel robot arm-based system integrating compliance control.
Methods
We developed a novel robotic system using a serial 6-degree-of-freedom (6-DOF) robot arm. By defining the ankle joint center (AJC) as the midpoint between the medial and lateral malleolus, a coordinate transformation method dynamically coincides the robotic rotational center (RRC) with the AJC, validated through a novel alignment accuracy metric. A real-time gravity compensation algorithm based on a 6-axis force/torque (F/T) sensor was designed to quantify ankle joint torques. The measured torques were mapped to Modified Ashworth Scale (MAS) criteria to enable quantitative muscle tension assessment, improving objectivity over manual evaluations. Three compliance rehabilitation training modes, namely patient-passive training, patient-active training, and resistance training, are designed based on the admittance control strategy, which also support simultaneous multi-axis compliance training.
Results
The experimental results on five subjects show that the designed training modes performed well in terms of compliance and trajectory tracking. The alignment accuracy for all three training modes was less than 1.59 mm, as validated by a motion capture system. The system successfully recorded and classified torque profiles indicative of different levels of muscle tension.
Conclusion
The integration of high-precision sensing and adaptive control provides a standardized measurement platform for ankle rehabilitation, promoting the translation of robotic systems into clinical practice.
期刊介绍:
in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance.
Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.