A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke Patients
| Autor: | Jihong Park, YeongHyeon Jeong, Nam-Jong Paik, Yong-Lae Park, Junghan Kwon, Subyeong Ku |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
medicine.medical_specialty Control and Optimization Computer science Controller (computing) Biomedical Engineering Soft robotics Wearable computer 02 engineering and technology Propulsion 01 natural sciences 020901 industrial engineering & automation Gait (human) Physical medicine and rehabilitation Artificial Intelligence medicine Mechanical Engineering 010401 analytical chemistry Biomechanics Gait Brace 0104 chemical sciences Computer Science Applications body regions Human-Computer Interaction medicine.anatomical_structure Control and Systems Engineering Trajectory Computer Vision and Pattern Recognition Ankle Actuator human activities |
| Zdroj: | IEEE Robotics and Automation Letters. 4:2547-2552 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2019.2908491 |
| Popis: | We propose a soft robotic ankle-foot-orthosis for post-stroke patients, which is inexpensive, lightweight, easy to wear, and capable of gait assistance for rehabilitation not only in the clinic but also in daily life. The device includes a 3D-printed flexible brace and an ankle supportthat allows natural flexion and extension of the ankle but provides support in the vertical direction preventing the structure from buckling. A bi-directional tendon-driven actuator was used for assisting both dorsiflexion and plantarflexion. The device also contains a wearable gait sensing module for measuring the leg trajectory and the foot pressures in real time for feedback control. Since the device is powered by a rechargeable battery and communicates with the main controller wirelessly, it is fully untethered, making it mobile and comfortable. Using the measured sensor data and the biomechanics of the legs, the real-time gait phase is detected, and then a gait assistance algorithm for both dorsiflexion and plantarflexion provides an accurate prediction of a control phase and timing although there are variations in the gait trajectories among individuals. As a feasibility test, the walking experiment was conducted with a post-stroke patient. The result showed improvement in both gait propulsion and foot-drop prevention. |
| Databáze: | OpenAIRE |
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