A hybrid ankle-foot orthosis with soft pneumatic actuation

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-03-21 DOI:10.1016/j.mechatronics.2024.103171

Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan

{"title":"A hybrid ankle-foot orthosis with soft pneumatic actuation","authors":"Grace P. Marconi , Alpha A. Gopalai , Sunita Chauhan","doi":"10.1016/j.mechatronics.2024.103171","DOIUrl":null,"url":null,"abstract":"<div><p>This paper presents the design, development, and analysis of a powered ankle-foot orthosis for dorsiflexion assistance which aims to improve gait restoration by addressing issues related to orthosis misalignment, limited degrees of freedom, restricted range of motion, and muscular disuse. The proposed orthosis utilizes a novel hybrid design with a combination of both traditional and soft robotics for compliant and unrestrictive ankle dorsiflexion assistance for sufferers of footdrop. This article describes the complete design of the orthosis including analytical modeling and experimental testing of the soft pneumatic actuator and the development of gait phase detection and ankle angular feedback systems using wearable sensors for accurate and responsive control. Preliminary analysis was completed which validates the orthosis as a lightweight, unrestrictive, and compliant device that is capable of dorsiflexing the ankle of a person up to 100 kg, and at walking speeds appropriate for safe and effective community ambulation of up to 1.04 m/s. The novel design of the device demonstrates the potential for improved rehabilitative outcomes for patients with footdrop, due to the ability to adjust the assistive force of the device, throughout the progression of rehabilitation, which encourages muscular participation of the user and therefore reduces issues caused by muscular disuse.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103171"},"PeriodicalIF":3.1000,"publicationDate":"2024-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000369/pdfft?md5=1c07cd8fe33a3ed810b88e2ec9277382&pid=1-s2.0-S0957415824000369-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415824000369","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

This paper presents the design, development, and analysis of a powered ankle-foot orthosis for dorsiflexion assistance which aims to improve gait restoration by addressing issues related to orthosis misalignment, limited degrees of freedom, restricted range of motion, and muscular disuse. The proposed orthosis utilizes a novel hybrid design with a combination of both traditional and soft robotics for compliant and unrestrictive ankle dorsiflexion assistance for sufferers of footdrop. This article describes the complete design of the orthosis including analytical modeling and experimental testing of the soft pneumatic actuator and the development of gait phase detection and ankle angular feedback systems using wearable sensors for accurate and responsive control. Preliminary analysis was completed which validates the orthosis as a lightweight, unrestrictive, and compliant device that is capable of dorsiflexing the ankle of a person up to 100 kg, and at walking speeds appropriate for safe and effective community ambulation of up to 1.04 m/s. The novel design of the device demonstrates the potential for improved rehabilitative outcomes for patients with footdrop, due to the ability to adjust the assistive force of the device, throughout the progression of rehabilitation, which encourages muscular participation of the user and therefore reduces issues caused by muscular disuse.

Abstract Image

查看原文本刊更多论文

带软气动驱动装置的混合型踝足矫形器

本文介绍了一种用于外翻辅助的动力踝足矫形器的设计、开发和分析，旨在通过解决与矫形器错位、自由度受限、运动范围受限和肌肉废用相关的问题，改善步态恢复。拟议的矫形器采用了新颖的混合设计，结合了传统和软机器人技术，可为足下垂患者提供顺应性和无限制的踝关节外翻辅助。本文介绍了矫形器的完整设计，包括软气动致动器的分析建模和实验测试，以及步态相位检测和踝关节角度反馈系统的开发，该系统使用可穿戴传感器进行精确、灵敏的控制。初步分析已经完成，验证了该矫形器是一种轻便、无束缚、顺应性强的装置，能够背屈体重达 100 公斤的人的踝关节，行走速度可达到 1.04 米/秒，适合在社区安全有效地行走。该装置的新颖设计表明，由于能够在康复过程中调整装置的辅助力，从而鼓励使用者的肌肉参与，减少因肌肉废用而造成的问题，因此有可能改善足下垂患者的康复效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.