Technical Brief

A Portable Powered Knee-Ankle- Foot Orthosis1

[+] Author and Article Information
Gong Chen, Haoyong Yu

Department of Biomedical Engineering,
National University of Singapore,
9 Engineering Drive 1,
117575, Singapore

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.DOI:10.1115/1.4027027

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online April 28, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(2), 020927 (Apr 28, 2014) (2 pages) Paper No: MED-14-1056; doi: 10.1115/1.4027027 History: Received February 21, 2014; Revised March 03, 2014

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Grahic Jump Location
Fig. 1

The prototype of the orthosis

Grahic Jump Location
Fig. 2

Schematic diagram of the robot. Θ is initial angle of the crank when joint angle is zero. φ1, φ2 are the angles of the four-bar mechanism. l1, l2 are the length of the bars, and d is the output length of the actuator. M is the output torque on the joints, and F is the corresponding force of the actuator.

Grahic Jump Location
Fig. 3

CAD model of the actuator

Grahic Jump Location
Fig. 4

Impedance control on ankle joint with different virtual stiffness



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