Preliminary Design and Control of an Ankle Rehabilitation Robot With Variable Stiffness Actuator

Intrinsic robotic compliance is crucial for enhancing the safety of physical human-robot interaction. This study proposes a variable stiffness ankle rehabilitation robot for rehabilitation training. A variable stiffness actuator is designed based on the lever principle, which can synchronously adjus...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Laibin Luo, Zhe Wei, Yao Sun, Wenxin Zhang, Jie Zhou
Format:	Article
Language:	English
Published:	IEEE 2024-01-01
Subjects:	Ankle rehabilitation robot physical human–robot interaction robotic compliance variable stiffness actuator
Online Access:	https://ieeexplore.ieee.org/document/10802873/