TY - GEN
T1 - A Novel Personalized Ankle Exoskeleton with Co-Located SEA for Gait Training
AU - Eraky, Mohamed T.
AU - Li, Andy
AU - Rocha, Mariana H.
AU - Teker, Aytac
AU - Gebre, Biruk A.
AU - Nolan, Karen J.
AU - Pochiraju, Kishore
AU - Zanotto, Damiano
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Gait rehabilitation programs help individuals who sustained a brain injury or severe lower-leg trauma realize their full recovery potential. While robotic exoskeletons have emerged as promising tools for gait rehabilitation, high costs and 'one-size-fits-all' designs that sacrifice user comfort and fit hinder their wider adoption in clinical settings. In this paper, we present a new modular ankle exoskeleton featuring a personalized Ankle Unit and a portable Actuation Unit. The Ankle Unit is fabricated using affordable additive manufacturing processes to conform to the user's leg morphology. The Actuation Unit, which can be shared across different Ankle Units, utilizes a cable loop to transfer mechanical power to a lightweight, high-stiffness rotary elastic module co-located with the ankle joint. Preliminary treadmill walking tests indicate very good transparency (root mean square error (RMSE) of 0.27 Nm in zero-torque mode) and torque tracking performance (RMSE of 1.16 Nm when applying 10% biomechanical torque assistance, corresponding to a peak commanded torque of 13.7
AB - Gait rehabilitation programs help individuals who sustained a brain injury or severe lower-leg trauma realize their full recovery potential. While robotic exoskeletons have emerged as promising tools for gait rehabilitation, high costs and 'one-size-fits-all' designs that sacrifice user comfort and fit hinder their wider adoption in clinical settings. In this paper, we present a new modular ankle exoskeleton featuring a personalized Ankle Unit and a portable Actuation Unit. The Ankle Unit is fabricated using affordable additive manufacturing processes to conform to the user's leg morphology. The Actuation Unit, which can be shared across different Ankle Units, utilizes a cable loop to transfer mechanical power to a lightweight, high-stiffness rotary elastic module co-located with the ankle joint. Preliminary treadmill walking tests indicate very good transparency (root mean square error (RMSE) of 0.27 Nm in zero-torque mode) and torque tracking performance (RMSE of 1.16 Nm when applying 10% biomechanical torque assistance, corresponding to a peak commanded torque of 13.7
KW - Personalized Ankle Exoskeleton
KW - Robot-Assisted Gait Training
KW - Series Elastic Actuator
UR - http://www.scopus.com/inward/record.url?scp=85208606574&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85208606574&partnerID=8YFLogxK
U2 - 10.1109/BioRob60516.2024.10719860
DO - 10.1109/BioRob60516.2024.10719860
M3 - Conference contribution
AN - SCOPUS:85208606574
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1715
EP - 1720
BT - 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
T2 - 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Y2 - 1 September 2024 through 4 September 2024
ER -