Design of a modular knee-ankle-foot-orthosis using soft actuator for gait rehabilitation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PublisherSpringer Verlag
Pages195-209
Number of pages15
ISBN (Print)9783662436448
DOIs
StatePublished - 2014
Event14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, United Kingdom
Duration: Aug 28 2013Aug 30 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Country/TerritoryUnited Kingdom
CityOxford
Period8/28/138/30/13

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science

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