NDLI: SMAFO: Stiffness modulated Ankle Foot Orthosis for a patient with foot drop

Content Provider	IEEE Xplore Digital Library
Author	Gwang Min Gu Seulki Kyeong Dae-Sung Park Jung Kim
Copyright Year	2015
Description	Author affiliation: Dept. of Phys. Therapy, Konyang Univ., Daejeon, South Korea (Dae-Sung Park) \|\| Korea Adv. Sci. & Technol., Daejeon, South Korea (Jung Kim) \|\| Dept. of Mech. Eng., Korea Adv. Sci. & Technol., Daejeon, South Korea (Gwang Min Gu; Seulki Kyeong)
Abstract	Weight and power consumption of variable stiffness actuation mechanism are critical for its implementation in a portable assistive device combined with an actuator, gearhead, elastic element, and batteries. Therefore, we present a portable stiffness modulation mechanism for an Ankle Foot Orthosis (AFO) utilizing pneumatic stiffness. The mechanism consists of two units: a driving unit that controls an air pump and an AFO unit that performs free motion and stiffness modulation functions. The actuation from the driving unit to the AFO unit via pneumatic hose makes the effective weight of the device light compared to the direct driven device at the ankle joint. We derived a mathematical model of the stiffness modulation to determine the pressure required. In order to control the required stiffness according to the gait phases, a threshold-based gait phase detection algorithm was implemented, employing ground reaction force sensor signals from heel and forefoot. The effectiveness of the proposed AFO was validated by the experiments in a patient with foot drop, performing walking with and without AFO actuation.
Starting Page	543
Ending Page	548
File Size	917355
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281256
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Force Modulation Muscles Robot sensing systems Joints Foot
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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