An assistive ankle joint exoskeleton for gait impairment
File(s)
Accepted version
Author(s)
Bernstein, Amanda
Varghese, Rejin J
Liu, Jindong
Zhang, Zhiqiang
Lo, Benny
Type
Conference Paper
Abstract
Motor rehabilitation and assistance post-stroke are becoming a major concern for healthcare services with an increasingly aging population. Wearable robots can be a technological solution to support gait rehabilitation and to provide assistance to enable users to carry out activities of daily living independently. To address the need for long-term assistance for stroke survivors suffering from drop foot, this paper proposes a low-cost, assistive ankle joint exoskeleton for gait assistance. The proposed exoskeleton is designed to provide ankle foot support thus enabling normal walking gait. Baseline gait reading was recorded from two force sensors attached to a custom-built shoe insole of the exoskeleton. From our experiments, the average maximum force during heel-strike (63.95 N) and toe-off (54.84 N) were found, in addition to the average period of a gait cycle (1.45 s). The timing and force data were used to control the actuation of tendons of the exoskeleton to prevent the foot from preemptively hitting the ground during swing phase.
Editor(s)
Masia, L
Micera, S
Akay, M
Pons, JL
Date Issued
2018-10-16
Date Acceptance
2018-10-01
Citation
CONVERGING CLINICAL AND ENGINEERING RESEARCH ON NEUROREHABILITATION III, 2018, 21, pp.658-662
ISBN
978-3-030-01844-3
ISSN
2195-3562
Publisher
SPRINGER INTERNATIONAL PUBLISHING AG
Start Page
658
End Page
662
Journal / Book Title
CONVERGING CLINICAL AND ENGINEERING RESEARCH ON NEUROREHABILITATION III
Volume
21
Copyright Statement
© Springer Nature Switzerland AG 2019. The final publication is available at Springer via http://doi.org/10.1007/978-3-030-01845-0_131
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000614735000131&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
4th International Conference on NeuroRehabilitation (ICNR)
Subjects
Science & Technology
Technology
Life Sciences & Biomedicine
Engineering, Biomedical
Robotics
Rehabilitation
Engineering
Publication Status
Published
Start Date
2018-10-16
Finish Date
2018-10-20
Coverage Spatial
Pisa, ITALY
Date Publish Online
2018-10-16