From: State of the art in parallel ankle rehabilitation robot: a systematic review
Group/device | Institution/nationality | Actuator types | DOFs | ROM | Exercise mode | Control strategies | Subject | Study with patients |
---|---|---|---|---|---|---|---|---|
Girone et al. Rutgers Ankle | Rutgers University, USA | P | 6 | DO/PL:\(\pm 45^{\circ }\) IN/EV:\(\pm 40^{\circ }\) AD/AB:\(\pm 80^{\circ }\) | Passive; Active | Position control Force control | N = 4 [58] | yes |
Yoon et al. Reconfigurable parallel ankle robot | Gwangju Institute of Science and Technology, Korea | P | 4 | DO/PL:\(\pm 50^{\circ }\) IN/EV:\(\pm 55^{\circ }\) | Passive | Position control | - | no |
Dai et al. “ \(3{\mathrm{- }}SPS/PS\)” mechanism | King’s College London, UK | E | 4 | – | – | – | – | no |
Liu et al. “ \(3{\mathrm{- }}RSS/S\)” mechanism | Hebei University of Technology, China | E | 3 | DO/PL: \({\mathrm{- }}{41.86^{\circ }} \sim {42.79^{\circ } }\); IN/EV: \({\mathrm{- }}{43.8^{\circ }} \sim {41.89^{\circ } }\); AD/AB: \({\mathrm{- }}{53.78^{\circ }} \sim {44.08^{\circ } }\); | Passive; assistant; resistive | Position control Force control | – | No |
Saglia et al. ARBOT | Istituto Italiano di Technologia, Italy | E | 2 | - | Passive Active Active (Isometric Isotonic) | Position control Assistive control Admittance control | N = 1 [27]; N = 5 [60] | No |
Malosio et al. PKAnkle | Institute of Industrial Technologies and Automation, Italy | E | 3 | - | Passive Active | Position control Admittance control | N = 3 [86] | No |
Ayas et al. 2-DOFs parallel ankle robot | Karadeniz Technical University, Turkey | E | 2 | - | Passive Active | Trajectory tracking Adaptive admittance control | – | No |
Hamid et al. 9-DOFs hybrid PARR | University of Birmingham, UK | E | 9 | DO/PL: \({\mathrm{- }}{42.24^{\circ }} \sim {25.92^{\circ } }\); IN/EV: \({\mathrm{- }}{16.46^{\circ }} \sim {16.11^{\circ } }\); AD/AB: \({\mathrm{- }}{30.49^{\circ }} \sim {33.71^{\circ } }\); | Passive | Position control | – | No |
Ai et al. 2-DOFs ankle rehabilitation robot | Wuhan University of Technology, China | P | 2 | - | Passive | Adaptive backstepping sliding mode control | N = 5 [52] | No |
Jamwal et al. Reconfigurable PARR | University of Auckland, New Zealand | P | 3 | DO/PL:\(\pm 46^{\circ }\) IN/EV:\(\pm 26^{\circ }\) AD/AB:\(\pm 52^{\circ }\) | Passive | Trajectory tracking control | N = 1 [49] | No |
Jamwal et al. intrinsically compliant ankle rehabilitation robot | Nazarbayev University, Kazakhstan | P | 3 | – | Passive Active | Position control Impedance control Adaptive impedance control | N = 10 [50]; N = 10 [68] N = 3 [69] | Yes |
Zhang et al. CARR | University of Auckland, New Zealand | P | 3 | Varying workspace | Passive Active | Position control Adaptive patient-cooperative control Adaptive trajectory tracking | N = 1 [34] N = 4 [47] N = 4 [70] N = 2 [71] | Yes |
Tsoi et al. Redundantly actuated PARR | University of Auckland, New Zealand | E | 3 | DO/PL: \({\mathrm{- }}{60^{\circ }} \sim {72^{\circ } }\); IN/EV:\(\pm 73^{\circ }\); AD/AB:\(> 80^{\circ }\); | Passive Active | Joint force control Impedance control | N = 1 [64] | No |
Wang et al. \(3-\underline{R}US/\underline{R}RR\) | Beijing Jiaotong University, China | E | 3 | DO/PL: \({\mathrm{- }}{62^{\circ }} \sim {50^{\circ } }\); IN/EV:\(\pm 37^{\circ }\); AD/AB:\(\pm 92^{\circ }\); | Passive | Position control | - | No |
Cazalilla et al. \(3{\mathrm{- }}\underline{P}RS\) | Universidad Politécnica de Valencia, Spain | E | 3 | DO/PL:\(\pm 50^{\circ }\); IN/EV:\(\pm 50^{\circ }\); | Passive Active (assistive; resistive) | Position control Force control | – | No |
Li et al. 2-UPS/RRR PARR | Beijing University of Technology, China | E | 3 | DO/PL: \({\mathrm{- }}{42.24^{\circ }} \sim {25.92^{\circ } }\); IN/EV: \({\mathrm{- }}{16.46^{\circ }} \sim {16.11^{\circ } }\); AD/AB: \({\mathrm{- }}{30.49^{\circ }} \sim {33.71^{\circ } }\); | Passive; Active | Position control Patient-passive compliance exercise Isotonic exercise Patient-active exercise | N = 5 [67] | No |