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In this paper, we detail the design and operation of the instrumented ankle–foot orthosis (i AFO), a clinical assessment tool that can be used to quantify the functional consequences of selectively modifying orthotic ankle joint stiffness, particularly for individuals with locomotor deficits such as foot drop. We discuss the sensing capabilities of the system, which include ankle joint kinematics...
Ankle-foot orthoses (AFOs) are orthotic devices that support the movement of the ankles of disabled people, for example, those suffering from hemiplegia or peroneal nerve palsy. We have developed an intelligently controllable AFO (i-AFO) in which the ankle torque is controlled by a compact magnetorheological fluid brake. Gait-control tests with the i-AFO were performed for a patient with flaccid paralysis...
It is reported that the rate of elderly person in the total population of Japan is about 21.5% in 2007. Thus, the recent society of Japan is called as “Elderly Society”. In the society, many elderly people work or enjoy walking to keep health. However, some problems with respect to stumble over of elderly people are occurred. That is to say, in recent years, accidents of bone fracture with elderly...
This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
Studies have shown locomotor adaptation of the ankle to assistive torques, but the ability of the knee to adapt to assistive forces has not yet been explored. Understanding how humans modulate knee joint kinematics during gait could be valuable for designing assistive devices for stroke patients. In this study we examined how healthy subjects adapt to knee flexion torque assistance during gait. We...
Ankle-foot orthoses (AFOs) are orthotic devices supporting movements of ankles for disabled people for example hemiplegia, peroneal nerve palsy, etc. In our research, we have developed the intelligently controllable AFO (I-AFO) which can control its ankle torque by using compact magneto-rheological fluid (MRF) brakes. In this paper, we describe the gait-control tests with I-AFO for a patient of the...
In this paper, we present the results of walking experiments with a below-knee amputee fitted with a biologically-inspired prosthesis. The design of the prosthesis is described together with the characteristics and working principle of its actuators. First experimental results with an amputee are presented that demonstrate the encouraging performance of the prosthesis in restoring ankle torque to...
Dynamically balanced staircase ascending gait generation problem of a 11-DOF biped robot has been solved utilizing an analytical approach. The swing foot and hip joint are assumed to follow cubic polynomial and straight line trajectories, respectively. The lower limbs' gaits have been generated based on the concept of inverse kinematics and the trunk motion is decided based on static balance. The...
The aim of this paper was to present the optimum parameters of an ankle foot orthosis (AFO) using dashpot-spring modeling. Using kinematic and force data joints moment were determined through the calculations of inverse dynamics. In the proposed dynamic model selected muscles of shank and foot were replaced by spring-damper The generated torque in ankle could be modifided by changing the spring constant...
In general, prosthetic feet can be classified in three categories. These are, following the time line: Conventional Feet (CF), Energy-Storing-and-Returning (ESR) feet, and recent so-called dasiabionicpsila feet. Research studies have shown enhanced performance properties of ESR feet compared to early CF. However, even with the advanced technology today, none of the ESR feet is capable of significantly...
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