Saturday, October 21, 2023

Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation

In the nine years since this was published did your doctor and hospital DO ONE DAMN THING TO BRING THIS IN  FOR STROKE REHAB? NO? Then you don't have a functioning stroke doctor or hospital.

Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation

Authors
Yong-Lae Park, Bor-rong Chen, Néstor O Pérez-Arancibia, Diana Young, Leia Stirling, Robert J Wood, Eugene C Goldfield, Radhika Nagpal
Publication date
2014/1/16
Journal
Bioinspiration & Biomimetics
Volume
9
Issue
1
Pages
016007
Publisher
IOP Publishing
Description
We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle–foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle–tendon–ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27 (14 dorsiflexion and 13 plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller

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