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http://dx.doi.org/10.5302/J.ICROS.2015.15.9022

Development of an Intelligent Ankle Assistive Robot  

Jeong, Woo-Chul (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Kim, Chang-Soon (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Park, Jin-Yong (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Hyun, Jung-Guen (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Kim, Jung-Yup (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.6, 2015 , pp. 538-546 More about this Journal
Abstract
This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn't restrain the wearer's ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.
Keywords
ankle assistive robot; mechanical design; EMG measurement;
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Times Cited By KSCI : 2  (Citation Analysis)
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