Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator

Chong Tune Hau; Darwin Gouwanda; Alpha Agape Gopalai; Low Cheng Yee; Fazah Akhtar Binti Hanapiah

doi:10.1109/EMBC.2017.8036981

Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator

Chong Tune Hau, Darwin Gouwanda, Alpha Agape Gopalai, Low Cheng Yee, Fazah Akhtar Binti Hanapiah

Malaysia School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

6 Citations (Scopus)

Abstract

Various ankle rehabilitation robots have been developed in the recent decade to improve ankle strength and mobility and to alleviate the burdens on clinicians and physiotherapists. However, existing designs have stiff actuating mechanism, heavy and bulky electromagnetic or pneumatic actuators. This paper introduces ankle rehabilitation robot that utilizes Shape Memory Alloy (SMA) wire actuator to provide foot plantarflexion and dorsiflexion during rehabilitation exercise. SMA wire is a smart material that can contract when it is heated and expand back to its original shape when it is cooled. It also has high power to weight ratio. However, the SMA wire has low cooling rate thus limits its operating frequency. A periodical cooling mechanism is proposed here. Its efficacy is then evaluated against natural cooling and continuous forced convection. The experimental study shows promising results and demonstrates that periodical cooling has both the advantages of natural cooling and forced convection and can improve the cooling rate of SMA wire actuator.

Original language	English
Title of host publication	2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publication	Smarter Technology for a Healthier World, EMBC 2017 - Proceedings
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	946-949
Number of pages	4
ISBN (Electronic)	9781509028092
DOIs	https://doi.org/10.1109/EMBC.2017.8036981
Publication status	Published - 13 Sept 2017
Event	International Conference of the IEEE Engineering in Medicine and Biology Society 2017 - Jeju Island, Korea, South Duration: 11 Jul 2017 → 15 Jul 2017 Conference number: 39th https://embc.embs.org/2017/ https://ieeexplore.ieee.org/xpl/conhome/8026122/proceeding (Proceedings)

Conference

Conference	International Conference of the IEEE Engineering in Medicine and Biology Society 2017
Abbreviated title	EMBC 2017
Country/Territory	Korea, South
City	Jeju Island
Period	11/07/17 → 15/07/17
Internet address	https://embc.embs.org/2017/ https://ieeexplore.ieee.org/xpl/conhome/8026122/proceeding (Proceedings)

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10.1109/EMBC.2017.8036981

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Hau, C. T., Gouwanda, D., Gopalai, A. A., Yee, L. C., & Hanapiah, F. A. B. (2017). Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator. In 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings (pp. 946-949). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/EMBC.2017.8036981

Hau, Chong Tune ; Gouwanda, Darwin ; Gopalai, Alpha Agape et al. / Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator. 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings. IEEE, Institute of Electrical and Electronics Engineers, 2017. pp. 946-949

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title = "Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator",

abstract = "Various ankle rehabilitation robots have been developed in the recent decade to improve ankle strength and mobility and to alleviate the burdens on clinicians and physiotherapists. However, existing designs have stiff actuating mechanism, heavy and bulky electromagnetic or pneumatic actuators. This paper introduces ankle rehabilitation robot that utilizes Shape Memory Alloy (SMA) wire actuator to provide foot plantarflexion and dorsiflexion during rehabilitation exercise. SMA wire is a smart material that can contract when it is heated and expand back to its original shape when it is cooled. It also has high power to weight ratio. However, the SMA wire has low cooling rate thus limits its operating frequency. A periodical cooling mechanism is proposed here. Its efficacy is then evaluated against natural cooling and continuous forced convection. The experimental study shows promising results and demonstrates that periodical cooling has both the advantages of natural cooling and forced convection and can improve the cooling rate of SMA wire actuator.",

author = "Hau, {Chong Tune} and Darwin Gouwanda and Gopalai, {Alpha Agape} and Yee, {Low Cheng} and Hanapiah, {Fazah Akhtar Binti}",

note = "Funding Information: This research is supported by Malaysia Ministry of Science, Technology and Innovation with project Ref. No. 06-02-10-SF0264 Chong Tune Hau, Darwin Gouwanda, and Alpha Agape Gopalai are with the School of Engineering, Monash University Malaysia, Bandar Sunway, 47500, Selangor Darul Ehsan, Malaysia. (Corresponding author Tel: +60-3-55145655; email: [email protected]) Low Cheng Yee is with Faculty of Mechanical and Manufacturing Engineering, Universiti Tun Hussein Onn Malaysia, Malaysia. Fazah Akhtar binti Hanapiah is with the Discipline of Rehabilitation Medicine, Universiti Teknology Mara, Malaysia. Publisher Copyright: {\textcopyright} 2017 IEEE. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; International Conference of the IEEE Engineering in Medicine and Biology Society 2017, EMBC 2017 ; Conference date: 11-07-2017 Through 15-07-2017",

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doi = "10.1109/EMBC.2017.8036981",

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Hau, CT, Gouwanda, D , Gopalai, AA, Yee, LC & Hanapiah, FAB 2017, Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator. in 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings. IEEE, Institute of Electrical and Electronics Engineers, pp. 946-949, International Conference of the IEEE Engineering in Medicine and Biology Society 2017, Jeju Island, Korea, South, 11/07/17. https://doi.org/10.1109/EMBC.2017.8036981

Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator. / Hau, Chong Tune; Gouwanda, Darwin ; Gopalai, Alpha Agape et al.
2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings. IEEE, Institute of Electrical and Electronics Engineers, 2017. p. 946-949.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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AU - Hau, Chong Tune

AU - Gouwanda, Darwin

AU - Gopalai, Alpha Agape

AU - Yee, Low Cheng

AU - Hanapiah, Fazah Akhtar Binti

N1 - Conference code: 39th

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N2 - Various ankle rehabilitation robots have been developed in the recent decade to improve ankle strength and mobility and to alleviate the burdens on clinicians and physiotherapists. However, existing designs have stiff actuating mechanism, heavy and bulky electromagnetic or pneumatic actuators. This paper introduces ankle rehabilitation robot that utilizes Shape Memory Alloy (SMA) wire actuator to provide foot plantarflexion and dorsiflexion during rehabilitation exercise. SMA wire is a smart material that can contract when it is heated and expand back to its original shape when it is cooled. It also has high power to weight ratio. However, the SMA wire has low cooling rate thus limits its operating frequency. A periodical cooling mechanism is proposed here. Its efficacy is then evaluated against natural cooling and continuous forced convection. The experimental study shows promising results and demonstrates that periodical cooling has both the advantages of natural cooling and forced convection and can improve the cooling rate of SMA wire actuator.

AB - Various ankle rehabilitation robots have been developed in the recent decade to improve ankle strength and mobility and to alleviate the burdens on clinicians and physiotherapists. However, existing designs have stiff actuating mechanism, heavy and bulky electromagnetic or pneumatic actuators. This paper introduces ankle rehabilitation robot that utilizes Shape Memory Alloy (SMA) wire actuator to provide foot plantarflexion and dorsiflexion during rehabilitation exercise. SMA wire is a smart material that can contract when it is heated and expand back to its original shape when it is cooled. It also has high power to weight ratio. However, the SMA wire has low cooling rate thus limits its operating frequency. A periodical cooling mechanism is proposed here. Its efficacy is then evaluated against natural cooling and continuous forced convection. The experimental study shows promising results and demonstrates that periodical cooling has both the advantages of natural cooling and forced convection and can improve the cooling rate of SMA wire actuator.

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M3 - Conference Paper

AN - SCOPUS:85032195851

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EP - 949

BT - 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - International Conference of the IEEE Engineering in Medicine and Biology Society 2017

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ER -

Hau CT, Gouwanda D , Gopalai AA, Yee LC, Hanapiah FAB. Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator. In 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings. IEEE, Institute of Electrical and Electronics Engineers. 2017. p. 946-949 doi: 10.1109/EMBC.2017.8036981

Design and development of platform ankle rehabilitation robot with Shape Memory Alloy based actuator

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