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Design of a quasi-passive 3 DOFs ankle-foot wearable rehabilitation orthosis

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Zhang, Chaoa | Zhu, Yanhea; * | Fan, Jizhuanga | Zhao, Jiea | Yu, Hongyingb

Affiliations: [a] State Key Laboratory of Robotics Institute, Harbin Institute of Technology, Harbin, 150006, Heilongjiang, China | [b] School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, Heilongjiang, China

Correspondence: [*] Address for correspondence: Yanhe Zhu, State Key Laboratory of Robotic and System, Harbin Institute of Technology, Building C1-203, HIT Science Park, Yikuang Street No. 2, Nangang District, 150006 Harbin, P.R. China. Tel.: 13074594165; Fax: +86-045186414538; E-mail: [email protected].

Keywords: Ankle-foot wearable orthosis, rehabilitation, quasi-passive, anthropomorphic design

DOI: 10.3233/BME-151356

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S647-S654, 2015

Published: 2015
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Muscular rigidity and atrophy caused by long-term underactivity usually lead to foot drop, strephenopodia, foot extorsion or some other complications for the lower limb movement disorders or lower limb surgery sufferers. The ankle-foot orthosis can help patients conduct the right ankle motion mode training, inhibit spasm and prevent ankle complications. In this paper, a quasi-passive 3 DOFs ankle-foot wearable orthosis was designed on the basis of kinematics and dynamics analysis of the ankle joint. Ankle joint trajectory and dynamic characteristics similar to those of natural gait can be obtained by the combination of passive energy storage and additional power complement. In terms of function, the orthosis has shock absorption and low energy consumption. Given its excellent characteristics of comfortableness, lightweight, and anthropomorphic construction, the orthosis can be used in medical institutions for rehabilitation training or as a daily-walking auxiliary equipment for surgery sufferers.

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