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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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References

Riener, R., Lünenburger, L., Jezernik, S., Anderschitz, M., Colombo, G., and Dietz, V., 2005, “Patient-Cooperative Strategies for Robot-Aided Treadmill Training: FIRST Experimental Results,” IEEE Trans. Neural Syst. Rehabil., Eng., 13(3), pp. 380–395. [CrossRef]
Blaya, J. A., and Herr, H., 2004, “Adaptive Control of a Variable-impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait,” IEEE Trans. Neural Syst. Rehabil. Eng., 12(1), pp. 21–31. [CrossRef]
Horst, R. W., 2009 “A Bio-Robotic Leg Orthosis for Rehabilitation and Mobility Enhancement,” IEEE International Conference of Engineering in Medicine and Biology Society (EMBC 2009), Minneapolis, MN, September 3–6, pp. 5030–5033. [CrossRef]
Sawicki, G. S., Ferris, D. P., 2009, “A Pneumatically Powered Knee-Ankle-Foot Orthosis (KAFO) With Myoelectric Activation and Inhibition,” J. Neuroengineering Rehabil., 6(6), p. 23. [CrossRef]
CGA Normative Gait Database,” 2005, Clinical Gait Analysis website, http://www.clinicalgaitanalysis.com/data/index.html
Yu, H., Huang, S., Chen, G., Thankor, N., Toh, S. L., Cruz, M., Ghorbel, Y., and Zhu, C., 2013, “A Novel Compact Compliant Actuator Design for Rehabilitation Robots,” IEEE International Conference of Rehabilitation Robotics (ICORR), Seattle, WA, June 24–26. [CrossRef]
Meng, X., Yu, H., and Tham, M. P., “Gait Phase Detection in Able-Bodied Subjects and Dementia Patients,” 35th IEEE International Conference of the Engineering in Medicine and Biology Society (EMBC), Osaka, Japan, July 3–7, pp. 4907–4910. [CrossRef]

Figures

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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