Design and Clinical Validation of a Robotic Ankle-Foot Simulator With Series Elastic Actuator for Ankle Clonus Assessment Training

To fulfill the need for reliable and consistent medical training of neurological examination technique to assess ankle clonus, a series elastic actuator (SEA) based haptic simulator was proposed developed. The simulator's mechanism (a hybrid belt linkage drive) controller (impedance control) were designed render realistic safe environment. Benchtop tests demonstrated that prototype able accurately estimate interaction torque from trainee (average RMSE 0.2 Nm) closely track chirp command up 10 Hz <0.22 Nm). high-level impedance could switch between different clinically encountered states (i.e., no unsustained sustained clonus) on trainee's assessment technique. evaluated by group 17 experienced physicians physical therapists. Subjects instructed induce clonus using their normal assessed in two common clinical positions (seated supine). scored simulation realism variety control features. expedite design iteration, feedback Day 1 used modify parameters prior testing 2 with new subject group. On average, all subjects successfully trigger response within 4-5 attempts first position 2-3 second. Feedback fidelity improved 2. Results suggest this SEA-based be viable tool healthcare trainees learning clonus.