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Gamification and Control of Nitinol Based Ankle Rehabilitation Robot
Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper presents an ankle rehabilitation robot that uses t...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8482156/ https://www.ncbi.nlm.nih.gov/pubmed/34562877 http://dx.doi.org/10.3390/biomimetics6030053 |
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author | Hau, Chong Tune Gouwanda, Darwin Gopalai, Alpha A. Low, Cheng Yee Hanapiah, Fazah A. |
author_facet | Hau, Chong Tune Gouwanda, Darwin Gopalai, Alpha A. Low, Cheng Yee Hanapiah, Fazah A. |
author_sort | Hau, Chong Tune |
collection | PubMed |
description | Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper presents an ankle rehabilitation robot that uses two nitinol wire actuators and a Pong game to provide foot plantarflexion and dorsiflexion exercises. Nitinol is a type of smart material that has high volumetric mechanical energy density and can produce translational motion. A two-state discrete antagonistic control is proposed to manipulate the actuators. The system was tested on healthy participants and stroke patients. The results showed that the robot was safe and compliant. The robot did not forcefully plantarflex or dorsiflex the foot when the participant exerted opposing force. The actuators worked antagonistically to flex to the foot as intended, in sync with the up and down motions of the player’s bat in the game. These behaviors demonstrated the feasibility of a nitinol-based ankle rehabilitation robot and a simple and yet intuitive game in providing interactive rehabilitation exercise. The robot is expected to enhance the patient’s experience, participation and compliance to the rehabilitation routine and to quantitatively monitor the patient’s recovery progress. |
format | Online Article Text |
id | pubmed-8482156 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84821562021-10-01 Gamification and Control of Nitinol Based Ankle Rehabilitation Robot Hau, Chong Tune Gouwanda, Darwin Gopalai, Alpha A. Low, Cheng Yee Hanapiah, Fazah A. Biomimetics (Basel) Article Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper presents an ankle rehabilitation robot that uses two nitinol wire actuators and a Pong game to provide foot plantarflexion and dorsiflexion exercises. Nitinol is a type of smart material that has high volumetric mechanical energy density and can produce translational motion. A two-state discrete antagonistic control is proposed to manipulate the actuators. The system was tested on healthy participants and stroke patients. The results showed that the robot was safe and compliant. The robot did not forcefully plantarflex or dorsiflex the foot when the participant exerted opposing force. The actuators worked antagonistically to flex to the foot as intended, in sync with the up and down motions of the player’s bat in the game. These behaviors demonstrated the feasibility of a nitinol-based ankle rehabilitation robot and a simple and yet intuitive game in providing interactive rehabilitation exercise. The robot is expected to enhance the patient’s experience, participation and compliance to the rehabilitation routine and to quantitatively monitor the patient’s recovery progress. MDPI 2021-09-21 /pmc/articles/PMC8482156/ /pubmed/34562877 http://dx.doi.org/10.3390/biomimetics6030053 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Hau, Chong Tune Gouwanda, Darwin Gopalai, Alpha A. Low, Cheng Yee Hanapiah, Fazah A. Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title | Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title_full | Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title_fullStr | Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title_full_unstemmed | Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title_short | Gamification and Control of Nitinol Based Ankle Rehabilitation Robot |
title_sort | gamification and control of nitinol based ankle rehabilitation robot |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8482156/ https://www.ncbi.nlm.nih.gov/pubmed/34562877 http://dx.doi.org/10.3390/biomimetics6030053 |
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