Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions
An ankle sprain can be caused by daily activities such as running, walking, or playing sports. In many cases, the patient’s ankle suffers severe or permanent damage that requires rehabilitation to return to its initial state. Thanks to technological advances, robotics has allowed for the development...
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MDPI AG
2024-12-01
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| Series: | Computation |
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| Online Access: | https://www.mdpi.com/2079-3197/13/1/7 |
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| author | Oscar I. Cirilo-Piñon Agustín Barrera-Sánchez Cesar H. Guzmán-Valdivia Manuel Adam-Medina Rafael Campos-Amezcua Andrés Blanco-Ortega Arturo Martínez-Mata |
| author_facet | Oscar I. Cirilo-Piñon Agustín Barrera-Sánchez Cesar H. Guzmán-Valdivia Manuel Adam-Medina Rafael Campos-Amezcua Andrés Blanco-Ortega Arturo Martínez-Mata |
| author_sort | Oscar I. Cirilo-Piñon |
| collection | DOAJ |
| description | An ankle sprain can be caused by daily activities such as running, walking, or playing sports. In many cases, the patient’s ankle suffers severe or permanent damage that requires rehabilitation to return to its initial state. Thanks to technological advances, robotics has allowed for the development of machines that generate precise, efficient, and safe movements. In addition, these machines are manipulated by a specific control depending on the rehabilitation objective. Impedance control is used in ankle rehabilitation machines for active–resistive-type rehabilitation, where the patient participates by exerting a force on the machine repeatedly. Serious games are an example of an activity where the patient can interact with a video game while rehabilitating. Currently, most machines involving impedance control and targeted at serious gaming applications are mechanically composed of one degree of freedom, so the addition of another degree is a novelty. This paper presents simulation results comparing different impedance controls reported in the literature to determine the best option for applying a 2-DOF ankle rehabilitation machine using serious games. The results obtained are presented by comparing them according to the force applied to the rehabilitation machine (emulating the behavior of a patient). From the impedance controllers analyzed for horizontal (abduction/adduction) and vertical (dorsiflexion/plantarflexion) movements in the rehabilitation machine, it was determined that the PD control, which considers some mechanical parameters, presents a better performance. With this controller, fast and smooth angular movements are generated, while the consumption of kinetic energy is kept in a low range, proportional to the applied forces, compared to the other impedance controls analyzed. |
| format | Article |
| id | doaj-art-abc222afb3684d0ab4e4a7c9830539e4 |
| institution | Kabale University |
| issn | 2079-3197 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Computation |
| spelling | doaj-art-abc222afb3684d0ab4e4a7c9830539e42025-01-24T13:27:46ZengMDPI AGComputation2079-31972024-12-01131710.3390/computation13010007Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game InteractionsOscar I. Cirilo-Piñon0Agustín Barrera-Sánchez1Cesar H. Guzmán-Valdivia2Manuel Adam-Medina3Rafael Campos-Amezcua4Andrés Blanco-Ortega5Arturo Martínez-Mata6TecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoTecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoDepartamento de Ingeniería Mecatrónica, Universidad Politécnica de Aguascalientes, Aguascalientes 20342, MexicoTecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoTecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoTecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoTecNM/Centro Nacional de Investigación y Desarrollo Tecnológico, Cuernavaca 62490, MexicoAn ankle sprain can be caused by daily activities such as running, walking, or playing sports. In many cases, the patient’s ankle suffers severe or permanent damage that requires rehabilitation to return to its initial state. Thanks to technological advances, robotics has allowed for the development of machines that generate precise, efficient, and safe movements. In addition, these machines are manipulated by a specific control depending on the rehabilitation objective. Impedance control is used in ankle rehabilitation machines for active–resistive-type rehabilitation, where the patient participates by exerting a force on the machine repeatedly. Serious games are an example of an activity where the patient can interact with a video game while rehabilitating. Currently, most machines involving impedance control and targeted at serious gaming applications are mechanically composed of one degree of freedom, so the addition of another degree is a novelty. This paper presents simulation results comparing different impedance controls reported in the literature to determine the best option for applying a 2-DOF ankle rehabilitation machine using serious games. The results obtained are presented by comparing them according to the force applied to the rehabilitation machine (emulating the behavior of a patient). From the impedance controllers analyzed for horizontal (abduction/adduction) and vertical (dorsiflexion/plantarflexion) movements in the rehabilitation machine, it was determined that the PD control, which considers some mechanical parameters, presents a better performance. With this controller, fast and smooth angular movements are generated, while the consumption of kinetic energy is kept in a low range, proportional to the applied forces, compared to the other impedance controls analyzed.https://www.mdpi.com/2079-3197/13/1/7ankle rehabilitation machineimpedance controlactive rehabilitationserious games |
| spellingShingle | Oscar I. Cirilo-Piñon Agustín Barrera-Sánchez Cesar H. Guzmán-Valdivia Manuel Adam-Medina Rafael Campos-Amezcua Andrés Blanco-Ortega Arturo Martínez-Mata Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions Computation ankle rehabilitation machine impedance control active rehabilitation serious games |
| title | Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions |
| title_full | Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions |
| title_fullStr | Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions |
| title_full_unstemmed | Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions |
| title_short | Impedance Controller Analysis for a Two-Degrees-Of-Freedom Ankle Rehabilitation Machine with Serious Game Interactions |
| title_sort | impedance controller analysis for a two degrees of freedom ankle rehabilitation machine with serious game interactions |
| topic | ankle rehabilitation machine impedance control active rehabilitation serious games |
| url | https://www.mdpi.com/2079-3197/13/1/7 |
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