title: Assessment of the assistive performance of an ankle exerciser using electromyographic signals.
abstract: This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active exercises with and without motion assistance. Electromyographic (EMG) signals are used to evaluate patient's effort during training/exercising. The results indicate the great potential of the rehabilitation device as a tool to fasten and improve the ankle therapies outcome.
authors.affiliation: Istituto Italiano di Tecnologia, 16163, Genova, Italy. jody.saglia@itt.it
authors.forename: J A
authors.initials: JA
authors.lastname: Saglia
authors.forename: N G
authors.initials: NG
authors.lastname: Tsagarakis
authors.forename: J S
authors.initials: JS
authors.lastname: Dai
authors.forename: D G
authors.initials: DG
authors.lastname: Caldwell
mesh_terms: D000843:Ankle Joint / Q000502:physiology*; D003198:Computer Simulation; D004576:Electromyography / Q000379:methods*; D005081:Exercise Therapy / Q000295:instrumentation*; D005528:Foot; D006801:Humans; D008297:Male; D008328:Man-Machine Systems; D012371:Robotics / Q000295:instrumentation*; D012656:Self-Help Devices