A two-axis cable-driven ankle-foot mechanism
نویسندگان
چکیده
منابع مشابه
A two-axis cable-driven ankle-foot mechanism
This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a straight path. Thi...
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The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmissi...
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This paper describes the design of an ankle-foot robotic prosthesis controllable in the sagittal and frontal planes. The prosthesis was designed to meet the mechanical characteristics of the human ankle including power, range of motion, and weight. To transfer the power from the motors and gearboxes to the ankle-foot mechanism, a Bowden cable system was used. The Bowden cable allows for optimal...
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An ankle rehabilitation robot has been conceptualized and designed to realize the range of motion, muscle strengthening and proprioception training exercises for ankle joint. The robotic device is intended to help patients and therapists in their cooperative efforts for the treatment of impaired ankle joint as a result of injury or stroke. After analyzing the ankle joint anatomy and its motions...
متن کاملMulti-axis Capability for Powered Ankle-Foot Prostheses
The ankle joint of lower extremity powered prostheses are generally designed to be capable of controlling a single degree of freedom (DOF) in the sagittal plane, allowing a focus on improved mobility in straight walking. However, the single DOF ankle movements are rare in normal lower limb actions such as walking on a straight path or turning when the ankle movements in both sagittal and fronta...
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ژورنال
عنوان ژورنال: Robotics and Biomimetics
سال: 2014
ISSN: 2197-3768
DOI: 10.1186/s40638-014-0017-0