Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force Distribution

Mingming Zhang*, Andrew Mcdaid, Allan J. Veale, Yuxin Peng, Sheng Quan Xie

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

38 Citations (Scopus)
8 Downloads (Pure)


This paper proposes an adaptive trajectory tracking control strategy implemented on a parallel ankle rehabilitation robot with joint-space force distribution. This device is redundantly actuated by four pneumatic muscles (PMs) with three rotational degrees of freedom. Accurate trajectory tracking is achieved through a cascade controller with the position feedback in task space and force feedback in joint space, which enhances training safety by controlling each PM to be in tension in an appropriate level. At a high level, an adaptive algorithm is proposed to enable movement intention-directed trajectory adaptation. This can further help to improve training safety and encourage human-robot engagement. The pilot tests were conducted with an injured human ankle. The statistical data show that normalized root mean square deviation (NRMSD) values of trajectory tracking are all less than 2.3% and the PM force tracking being always controlled in tension, demonstrating its potential in assisting ankle therapy.

Original languageEnglish
Article number8746244
Pages (from-to)85812-85820
Number of pages9
JournalIEEE Access
Publication statusPublished - 2019


  • cascade control
  • force gdistribution
  • movement intention
  • Parallel ankle robot
  • trajectory adaptation

Cite this