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The aim of this paper is to present the design and implementation of an intelligent device for control of active ankle-foot orthosis which can be used for assisting and rehabilitation in cases of injured ankle-foot complex. Proposed ankle-foot orthosis is with one degree of freedom which foot segment is connected to the shank segment by a rotationa...
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Citations
... Girone et al. [6] used a Stewart platform-based system as an ankle robot with six DOFs. Veneva [7] introduced an ankle-foot orthosis with one DOF for the foot segment and another one for the shank segment. Agrawal et al. [8] designed a two-DOF orthosis with pronation-supination and flexion-extension movements. ...
... A schematic of the robot is shown in Figure 2, where (1) is the lower platform, (8) is the upper platform, and (9) is the ball pin structure supporting the two platforms. The two drive branch chains (namely, Branch Chain 1, A 1 B 1 and Branch Chain 2, A 2 B 2 ) are identical; each branched chain consists of a motor (2), U-shaped connector (3), screw rod (4), guide frame (5), slider block (6), and spring (7). The screw rod is connected to the motor, which is in turn fixed on the U-shaped connector. ...
... When an ankle joint needs to perform the dorsiflexion and plantar flexion rehabilitation motions, Motor I starts rotating the screw rod (4) and drives the slider block (6). Then, the motion of the slider block (6) constricts the spring (7). Under the action of the spring force, the upper platform rotates by a certain angle along the direction of the dorsiflexion and plantar flexion rehabilitation motions. ...
An ankle joint auxiliary rehabilitation robot has been developed, which consists of an upper platform, a lower platform, a dorsiflexion/plantar flexion drive system, a varus/valgus drive system, and some connecting parts. The upper platform connects to the lower platform through a ball pin pair and two driving branch chains based on the S ′ PS ′ mechanism. Although the robot has two degrees of freedom (DOF), the upper platform can realize three kinds of motion. To achieve ankle joint auxiliary rehabilitation, the ankle joint of patients on the upper platform makes a bionic motion. The robot uses a centre ball pin pair as the main support to simulate the motion of the ankle joint; the upper platform and the centre ball pin pair construct a mirror image of a patient’s foot and ankle joint, which satisfies the human body physiological characteristics; the driving systems adopt a rigid-flexible hybrid structure; and the dorsiflexion/plantar flexion motion and the varus/valgus motion are decoupled. These structural features can avoid secondary damage to the patient. The rehabilitation process is considered, and energy consumption of the robot is studied. An experimental prototype demonstrates that the robot can simulate the motion of the human foot.
... Differing from ankle rehabilitation, the translation might be required for ankle/foot orthosis. Veneva introduced an ankle-foot orthosis with one-DOF for foot segment and the other one-DOF for shank segment; the joint used a direct drive actuator [18]. Agrawal et al. designed a two-DOF orthosis with its pronation-supination and flexion-extension; the device can also be instrumented for training purpose [19]. ...
... For example, the ankle rehabilitation robot by Yoon and Ryu [15] has more DOF than an ankle including coupled translations; it consisted of a set of parallel legs whose heights can be adjusted to orien- [17]. Note that a translation might be required for ankle/ foot orthosis as indicated by Veneva [18]. On other hand, the robot developed by Agrawal et al. ...
Existing ankle rehabilitation robots have the limitations of insufficient motion ranges and coupled translations. An improved spherical robot has been proposed to overcome these limitations. The forward and inverse kinematic problems of this new machine are formulated and solved; the dexterity of the workspace is evaluated and the workspace has been optimized with the consideration of the motion ranges of passive joints. The operation of machine has been simulated; it will be further expanded as a control program to run the rehabilitation robot.
... The active ankle-foot orthoses has two basic components: Electro-Mechanical and Control Unit. The Control Unit generates flexion/extension motions and controls the Electro-Mechanical Unit (direct drive actuator and anklefoot orthoses with hinge joint) [4,5,8]. The used Voice Coil Actuator (VCA) has two build-in mechanical stops, which limit its range of motion to slightly less than 30 degrees. ...
... Once we know the actuator parameters and computed torque, we can verify that this is the correct answer of the system simulation by analyzing driven angular motion for the articulation of the ankle joint (foot) in Matlab Simulink ( fig.11). In order to test the control algorithm and system functionalities a laboratory model of orthosis with hinge joint and attached laterally direct drive actuator was designed [8]. A healthy subject equipped with the sensors mounted under the heel and the toes part of the insole (TR1, TR2 for the right leg and TL1, TL2 for the left leg), performs different trials of slow and normal level walking. ...
The main aim of this research is the development of an autonomous adaptive system for actuation, data acquisition and control of active ankle-foot orthosis. The system is composed by microcontroller, driver and sensor system, which application is to actuate and position the foot orthotic segment, as well as data acquisition, communication and friendly oriented software for interpretation of the data obtained during the walking. The research work combines hardware and software design of the intelligent control device with graphical interface for representation and analysis of the data acquired during human motion. A laboratory model of the proposed system was implemented to demonstrate its autonomy and verify experimentally its functionality. The proposed control device can be used in several applications involving human motion analysis and control of different types of orthoses used for gait correction.
