Development of control model for intelligently controllable ankle-foot orthosis

Kikuchi, Takehito; Tanida, Sousuke; Yasuda, Takashi; Fujikawa, Takamitsu

doi:10.1109/embc.2013.6609504

Cited by 8 publications

(3 citation statements)

References 8 publications

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“…Power power source and one connected to a step-up chopper circuit to charge and has a power consumption of 0.05736 W. So the required energy consumption is 0.05837 Joule for one gait cycle, so that it can be said that the application of the AFO control system has low energy consumption. Several active or semi-active AFOs have been proposed by Adiputra et al, [15], Kikuchi et al, [17,18], and Van der Wilk, et al, [16]. Based on these four works, their power consumption was more than 15 W. Compared to the existing device, the power consumption of the existing product is much less than the previous work.…”

Section: Energy Consumptionmentioning

confidence: 99%

Development of Ankle-Foot Orthosis Using Servo Motor with On-Off Control System for Drop-Foot

Ubaidillah,

Utomo,

Wulansari

et al. 2023

Int. J. Automot. Mech. Eng.

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This research addresses the imperative need for a lightweight, compact, and efficient design of an Active Ankle-Foot Orthosis (AFO), with the potential for everyday use and enhancement of gait cycles in individuals with drop-foot. The proposed AFO employs a servo motor to generate ankle moments based on gait phase detection, ensuring low power consumption and a structurally lightweight configuration. The study encompasses a kinematic analysis of the gait mechanism utilizing a graphical method, facilitating the determination of the requisite force for the motor actuator. Additionally, a finite element approach is employed to assess the strength of linkages. The connecting mechanism utilizes Poly (methyl methacrylate) or PMMA board due to its lightweight nature and ease of fabrication. Based on the simulation result, the minimum safety factor of link bars was 1.8. While, based on the kinematic analysis, the minimum required torque that should be provided by the servo motor is 3.838 Nm. The servo motor serves as the active element within the AFO, and an on-off control system, driven by a rotary encoder detecting gait phases, governs the AFO's movement. Ankle joint angle readings obtained through AFO implementation exhibit values within the range of normal individuals. The entire control system operates with remarkably low power consumption, registering at 0.06 W over one running cycle. Based on these analyses, a prototype has been developed for further evaluation in patient trials, underscoring the potential efficacy and practicality of the proposed active AFO design.

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Section: Energy Consumptionmentioning

confidence: 99%

Development of Ankle-Foot Orthosis Using Servo Motor with On-Off Control System for Drop-Foot

Ubaidillah,

Utomo,

Wulansari

et al. 2023

Int. J. Automot. Mech. Eng.

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show abstract

“…The passive AFO with magnetorheological (MR) brake shows similar configuration to active AFO with electric motor actuator. The MR brake or electric motor can be placed directly into the joint [9] or attached to some linkage mechanism first for torque amplification [15]. Of course, placing the MR brake directly is very simple to be done, but the torque achievement is not comparable with the robot AFO that uses linkage mechanism.…”

Section: Introductionmentioning

confidence: 99%

“…Of course, placing the MR brake directly is very simple to be done, but the torque achievement is not comparable with the robot AFO that uses linkage mechanism. Study in [9] shows 2 Nm braking torque with direct placement configuration, while study in [15] shows 11 Nm braking torque with linkage configuration. Pneumatic powered AFO can offers high torque achievement (reported to be 23 Nm) [10], however, the compressed air tank is necessary for the movement.…”

Section: Introductionmentioning

confidence: 99%

Robot Ankle Foot Orthosis with Auto Flexion Mode for Foot Drop Training on Post-Stroke Patient in Indonesia

Adiputra¹,

Ubaidillah²,

Asfari³

et al. 2022

KINETIK

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Robot Ankle Foot Orthosis (AFO) has been proven to assist the gait impairment, such as the foot drop. However, development challenge is still remains, such as the trade-off between complexity, functionality and cost. High functionality resulted in high cost, bulky, and complex device. But affordability and simplicity may decrease functionality. Therefore, this research proposed a robot AFO, which has the necessary function of auto dorsi-plantarflexion so it can keep the affordability and simplicity. The robot AFO consists of structure, electronics part and algorithm. The structure is custom made according to the user’s anatomy. A brushless DC (BLDC) motor, Force-Sensing Resistor (FSR) and microcontroller builds the electronic parts. The BLDC motor actuates the flexion, while the FSR detects the gait phase to determine the action. Both are integrated by the microcontroller with the P control algorithm that commands the BLDC motor to generate necessary torque so it rotates in a constant speed. A functionality test has been carried out on the robot AFO, where the robot AFO perform a dorsi-plantarflexion continuously in three conditions, such as no load, 1 Kg load, and foot load. The robot AFO successfully performed a constant velocity rotation in both directions, in all conditions. In the case of 1 Kg load, the maximum angular speed is 0.7 rad/s dorsiflexion and -1.8 rad/s plantarflexion. The torque keeps increasing and decreasing from -0.3 Nm to 4 Nm to keep the angular velocity. The result shows that the robot AFO can perform the necessary function to assist the foot drop training. Functionality test on the gait detection has also been done where it shows that the robot AFO can detect the four gait phases accurately. The robot AFO has been tested and future study should test the robot on a real post-stroke patient to see the effect of the gait control in reality.

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Approach to gait disorders and orthotic management in adult onset neuromuscular diseases

Chiou‐Tan,

Bloodworth

2024

Muscle and Nerve

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In order to understand abnormal gait, this article will first review normal gait, discuss how neuromuscular diseases disturb gait patterns and review orthotic interventions. In normal gait, concentric contractions accelerate and eccentric contractions decelerate the limb. Neuromuscular gait disorders can be grouped into (1) proximal weakness, (2) distal weakness, (3) nonlength‐dependent or generalized weakness, (4) asymmetric weakness, and (5) sensory disorders. Identification of gait disturbance type in neuromuscular diseases leads to the appropriate orthotic prescription since orthotic strategies are grouped into (1) proximal weakness, (2) distal weakness, and (3) sensory disturbances. Orthotics is not indicated in all types of gait disturbance. Weakness in proximal hip musculature can be managed with gait aids such as walkers. In contrast, distal muscle weakness can be managed with orthotics. Preservation of gait assists in maintenance of daily function and integration in society.

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Development of control model for intelligently controllable ankle-foot orthosis

Cited by 8 publications

References 8 publications

Development of Ankle-Foot Orthosis Using Servo Motor with On-Off Control System for Drop-Foot

Development of Ankle-Foot Orthosis Using Servo Motor with On-Off Control System for Drop-Foot

Robot Ankle Foot Orthosis with Auto Flexion Mode for Foot Drop Training on Post-Stroke Patient in Indonesia

Approach to gait disorders and orthotic management in adult onset neuromuscular diseases

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