Gait measurement system to develop control model of intelligently controllable ankle-foot orthosis

Kikuchi, Takehito; Tanaka, Tatsuyoshi; Shoji, Akihito; Tanida, Sousuke; Kato, Morimasa

doi:10.1109/sii.2011.6147431

Cited by 8 publications

References 11 publications

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Development of control model for intelligently controllable ankle-foot orthosis

Kikuchi

Tanida

Yasuda

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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We have developed an intelligently controllable ankle-foot orthosis (i-AFO). In this paper, we formulated a new control method for the i-AFO. In the method the sensor system of the i-AFO estimates walking speed of user and decide optimal drop speed of foot at the duration between initial contact and foot flat. We conducted the pretest for eight healthy subjects to make a control rule for the drop speed. Then we conducted the modeling test for one patient to make an estimation rule for walking speed. Finally we conducted the evaluation test for the proposed method. Despite the walking speed estimation show errors, the i-AFO successfully controlled the foot motion depending on the gait states.

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Development of control model for intelligently controllable ankle-foot orthosis

Kikuchi

Tanida

Yasuda

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Development of Stewart platform type ankle-foot device for trip prevention support

Nomura

Yonezawa

Ogitsu

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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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.

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