Examination of compliance performance during operation of ankle rehabilitation machine using pneumatic artificial muscle

Abstract

Recently, home medical care has been promoted, and the development of a machine that facilitates ankle range of motion training is desired. Therefore, in this study, we are developing an ankle joint rehabilitation machine using rubber less-artificial muscles. It is desirable that the machine that performs ankle range of motion training can adjust the torque applied to the ankle joint and the flexibility of the system. By using compliance control in the developed rehabilitation machine, we realized a soft operation using the characteristics of the spring. In this paper, we examine the compliance performance of ankle joint rehabilitation machines using rubber-less artificial muscles during rehabilitation.