A Stewart Platform-Based System for Ankle Telerehabilitation

  • Authors:

  • M. Girone;G. Burdea;M. Bouzit;V. Popescu;J. E. Deutsch

  • Affiliations:

  • CAIP Center, Rutgers University, Piscataway, NJ, USA;CAIP Center, Rutgers University, Piscataway, NJ, USA. burdea@vr.rutgers.edu;CAIP Center, Rutgers University, Piscataway, NJ, USA;CAIP Center, Rutgers University, Piscataway, NJ, USA;Program in Physical Therapy, UMDNJ-SHRP, Newark, NJ, USA

  • Venue:
  • Autonomous Robots
  • Year:
  • 2001

Quantified Score

Hi-index 0.00

Visualization

Abstract

The “Rutgers Ankle” is a Stewart platform-type haptic interface designed for use in rehabilitation. The system supplies six-DOF resistive forces in response to virtual reality-based exercises running on a host PC. The Stewart platform uses double-acting pneumatic cylinders, linear potentiometers as position sensors, and a six-DOF force sensor. The Rutgers Ankle controller contains an embedded Pentium board, pneumatic solenoid valves, valve controllers, and associated signal conditioning electronics. Communication with the host PC is over a standard RS232 line. The platform movement and output forces are transparently recorded by the host PC in a database. This database can be accessed remotely over the Internet. Thus, the Rutgers Ankle Orthopedic Rehabilitation Interface will allow patients to exercise at home while being monitored remotely by therapists. A prototype was constructed, and proof-of-concept trials were conducted at the University of Medicine and Dentistry of New Jersey. The results indicate that the system works well as a diagnostic tool. The subjective evaluation by patients was very positive. Further medical trials are needed before the system clinical efficacy in rehabilitation can be established.