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Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

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Abstract

We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOn-Ankle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device.

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Notes

  1. Parallel mechanisms are commonly denoted by using symbols U, R, S, and P, which stand for universal, revolute, spherical, and prismatic joints. Symbols corresponding to actuated joints are underlined in this notation.

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Acknowledgments

The authors gratefully acknowledge the TÜBİTAK Grants 107M337, 111M186, 115M698 and the Marie Curie International Reintegration Grant 203324-REHAB-DUET.

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Authors and Affiliations

  1. Faculty of Engineering and Natural Sciences, Sabancı University, 34956, Istanbul, Turkey

    Ahmetcan Erdogan, Besir Celebi, Aykut Cihan Satici & Volkan Patoglu

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  1. Ahmetcan Erdogan
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  2. Besir Celebi
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  3. Aykut Cihan Satici
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  4. Volkan Patoglu
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Correspondence to Volkan Patoglu.

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This is one of several papers published in Autonomous Robots comprising the “Special Issue on Assistive and Rehabilitation Robotics”.

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Erdogan, A., Celebi, B., Satici, A.C. et al. Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation. Auton Robot 41, 743–758 (2017). https://doi.org/10.1007/s10514-016-9551-7

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