TY - GEN
T1 - Design of a modular knee-ankle-foot-orthosis using soft actuator for gait rehabilitation
AU - Rahman, S. M.Mizanoor
PY - 2014
Y1 - 2014
N2 - The design of a modular wearable knee-ankle-foot-orthosis (KAFO) using novel soft actuator for post-stroke gait rehabilitation is presented. The configuration, different modules, working principles, actuation, control concepts, novel features etc. of the KAFO are introduced. As the actuation method plays the key role for the overall performances of the KAFO, the design, configuration, working principles, kinematics, dynamics, control analyses etc. of a novel soft actuation system are presented in details. The novel actuator is a variable impedance series elastic actuator designed with one motor and two types of springs in series, which is light in weight and compact in size. The actuator model is simulated for various conditions, and the results show satisfactory dynamic performances in terms of stability, safety, force bandwidths, variable impedance, compliance, efficiency etc. Then, the fabrication of the physical KAFO and its clinical validation with stroke patients are emphasized.
AB - The design of a modular wearable knee-ankle-foot-orthosis (KAFO) using novel soft actuator for post-stroke gait rehabilitation is presented. The configuration, different modules, working principles, actuation, control concepts, novel features etc. of the KAFO are introduced. As the actuation method plays the key role for the overall performances of the KAFO, the design, configuration, working principles, kinematics, dynamics, control analyses etc. of a novel soft actuation system are presented in details. The novel actuator is a variable impedance series elastic actuator designed with one motor and two types of springs in series, which is light in weight and compact in size. The actuator model is simulated for various conditions, and the results show satisfactory dynamic performances in terms of stability, safety, force bandwidths, variable impedance, compliance, efficiency etc. Then, the fabrication of the physical KAFO and its clinical validation with stroke patients are emphasized.
UR - http://www.scopus.com/inward/record.url?scp=84904196702&partnerID=8YFLogxK
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U2 - 10.1007/978-3-662-43645-5_21
DO - 10.1007/978-3-662-43645-5_21
M3 - Conference contribution
AN - SCOPUS:84904196702
SN - 9783662436448
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 195
EP - 209
BT - Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PB - Springer Verlag
T2 - 14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Y2 - 28 August 2013 through 30 August 2013
ER -