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Static and dynamic characteristics of rehabilitation joint powered by pneumatic muscles

Xianzhi Jiang (State Key Lab of Digital Manufacturing Equipment and Technology, Institute of Rehabilitation and Medical Robotics, Huazhong University of Science & Technology, Wuhan, China)
Caihua Xiong (State Key Lab of Digital Manufacturing Equipment and Technology, Institute of Rehabilitation and Medical Robotics, Huazhong University of Science & Technology, Wuhan, China)
Ronglei Sun (State Key Lab of Digital Manufacturing Equipment and Technology, Institute of Rehabilitation and Medical Robotics, Huazhong University of Science & Technology, Wuhan, China)
Xiaolin Huang (Department of Rehabilitation Medicine, Tongji Hospital, Tongji Medical College of Huazhong University of Science & Technology, Wuhan, China)
Youlun Xiong (State Key Lab of Digital Manufacturing Equipment and Technology, Institute of Rehabilitation and Medical Robotics, Huazhong University of Science & Technology, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 23 August 2011

Abstract

Purpose

The purpose of this paper is to present the static and dynamic characteristics of the rehabilitation joint.

Design/methodology/approach

The rehabilitation joint is driven by pneumatic muscle actuators (PMAs). Rehabilitation robot is normally composed of several rehabilitation joints. The static and dynamic characteristics of the rehabilitation joint are important for control of the rehabilitation robot. Analysis and modeling of the rehabilitation joint is based on experiments.

Findings

The static model of the PMA is obtained by the method of curve fitting and achieved better precision compared to the existing representative models. A second‐order model fits the dynamic characteristic of the rehabilitation joint better than a first order one.

Research limitations/implications

The rehabilitation joint and the patient's joint combine to make an independent system, and the unstable factors of the patient's joint make it difficult in precisely modeling the rehabilitation joint.

Originality/value

The characteristics of the rehabilitation joint are all based on the data that were recorded in a series of with experiments, the same with modeling of the rehabilitation joint.

Keywords

Citation

Jiang, X., Xiong, C., Sun, R., Huang, X. and Xiong, Y. (2011), "Static and dynamic characteristics of rehabilitation joint powered by pneumatic muscles", Industrial Robot, Vol. 38 No. 5, pp. 486-491. https://doi.org/10.1108/01439911111154054

Publisher

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Emerald Group Publishing Limited

Copyright © 2011, Emerald Group Publishing Limited