Abstract:
This paper presents an ankle-foot device using a Stewart platform, which is a type of parallel-link mechanism, for trip prevention support. The developed device can repro...Show MoreMetadata
Abstract:
This paper presents an ankle-foot device using a Stewart platform, which is a type of parallel-link mechanism, for trip prevention support. The developed device can reproduce the input motions of the ankle joint in six degrees of freedom by controlling six pneumatic cylinders at the same time. The root mean square errors of the 3-D position and rotation angle of the reproduced motions with the input motions (dorsiflexion and plantar flexion) were 6.3 mm and 3.0°, respectively. Verification experiments for trip prevention support performance were conducted by comparing motions in each walking condition measured using a motion capture system. The experimental results showed that the minimum foot clearance during mid-swing and initial swing increased significantly by the trip prevention support offered by the developed device. The developed device can perform passive exercises for ankle rehabilitation and support walking for trip prevention.
Published in: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Date of Conference: 25-29 August 2015
Date Added to IEEE Xplore: 05 November 2015
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PubMed ID: 26737369