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Table 2 Conclusions and comparisons of the different PARRs (P: Pneumatic-driven; E: Electrically-driven)

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