Design and Evaluation of an Active/Semiactive Ankle-Foot Orthosis for Gait Training

Yufeng Zhang, Roger J. Kleinmann, Karen J. Nolan, Damiano Zanotto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Neuromusclar disorders such as stroke often cause walking impairments. During walking, the ankle joint contributes the largest propulsive moment and plays a vital role in shaping a normal gait pattern. The goal of this paper is to introduce a novel powered ankle-foot orthosis (AFO) for gait rehabilitation named Stevens Ankle-Foot Electromechanical (SAFE) orthosis. Unlike other powered AFOs, the SAFE orthosis features two alternative actuation modes: Fully-active and semi-active. The former employs two BLDC motors to provide plantar and dorsiflexion torques; the latter replaces the dorsiflexion side motor with a set of linear springs. This design provides a direct way to investigate how the introduction of a passive antagonistic element may affect the performance of a powered AFO. Initial results from bench testing indicate that the performance of the two actuation modes are comparable in terms of device transparency and torque tracking. Possible implications for the design of future powered AFOs are discussed in the paper.

Original languageEnglish
Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Pages544-549
Number of pages6
ISBN (Electronic)9781538681831
DOIs
StatePublished - 9 Oct 2018
Event7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 - Enschede, Netherlands
Duration: 26 Aug 201829 Aug 2018

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2018-August
ISSN (Print)2155-1774

Conference

Conference7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Country/TerritoryNetherlands
CityEnschede
Period26/08/1829/08/18

Keywords

  • Powered AFO
  • Powered Orthoses
  • Robot-Assisted Gait Training
  • Wearable Robotics

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