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Design of a Modular Knee-Ankle-Foot-Orthosis Using Soft Actuator for Gait Rehabilitation

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Towards Autonomous Robotic Systems (TAROS 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8069))

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Abstract

The design of a modular wearable knee-ankle-foot-orthosis (KAFO) using novel soft actuator for post-stroke gait rehabilitation is presented. The configuration, different modules, working principles, actuation, control concepts, novel features etc. of the KAFO are introduced. As the actuation method plays the key role for the overall performances of the KAFO, the design, configuration, working principles, kinematics, dynamics, control analyses etc. of a novel soft actuation system are presented in details. The novel actuator is a variable impedance series elastic actuator designed with one motor and two types of springs in series, which is light in weight and compact in size. The actuator model is simulated for various conditions, and the results show satisfactory dynamic performances in terms of stability, safety, force bandwidths, variable impedance, compliance, efficiency etc. Then, the fabrication of the physical KAFO and its clinical validation with stroke patients are emphasized.

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Acknowledgements

The author acknowledges the supports that he received from the National University of Singapore (NUS), Singapore in relation to the work presented in this paper.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050, Brussels, Belgium

    S. M. Mizanoor Rahman

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  1. S. M. Mizanoor Rahman
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Correspondence to S. M. Mizanoor Rahman .

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Editors and Affiliations

  1. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Ashutosh Natraj

  2. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Stephen Cameron

  3. University of Bristol and the West of En, Bristol, United Kingdom

    Chris Melhuish

  4. Imperial College London Department of Electrical and Electronic, London, United Kingdom

    Mark Witkowski

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Rahman, S.M.M. (2014). Design of a Modular Knee-Ankle-Foot-Orthosis Using Soft Actuator for Gait Rehabilitation. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_21

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  • DOI: https://doi.org/10.1007/978-3-662-43645-5_21

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