A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke Patients

Junghan Kwon, Ji Hong Park, Subyeong Ku, Yeong Hyeon Jeong, Nam Jong Paik, Yong Lae Park

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

We propose a soft robotic ankle-foot-orthosis for post-stroke patients, which is inexpensive, lightweight, easy to wear, and capable of gait assistance for rehabilitation not only in the clinic but also in daily life. The device includes a 3D-printed flexible brace and an ankle supportthat allows natural flexion and extension of the ankle but provides support in the vertical direction preventing the structure from buckling. A bi-directional tendon-driven actuator was used for assisting both dorsiflexion and plantarflexion. The device also contains a wearable gait sensing module for measuring the leg trajectory and the foot pressures in real time for feedback control. Since the device is powered by a rechargeable battery and communicates with the main controller wirelessly, it is fully untethered, making it mobile and comfortable. Using the measured sensor data and the biomechanics of the legs, the real-time gait phase is detected, and then a gait assistance algorithm for both dorsiflexion and plantarflexion provides an accurate prediction of a control phase and timing although there are variations in the gait trajectories among individuals. As a feasibility test, the walking experiment was conducted with a post-stroke patient. The result showed improvement in both gait propulsion and foot-drop prevention.

Original languageEnglish
Article number8678401
Pages (from-to)2547-2552
Number of pages6
JournalIEEE Robotics and Automation Letters
Volume4
Issue number3
DOIs
StatePublished - 1 Jul 2019

Fingerprint

Gait
Stroke
Robotics
Trajectories
Phase control
Biomechanics
Secondary batteries
Tendons
Patient rehabilitation
Propulsion
Feedback control
Buckling
Actuators
Wear of materials
Controllers
Sensors
Trajectory
Braces
Experiments
Rehabilitation

Keywords

  • Soft robotics
  • gait detection
  • post-stroke rehabilitation
  • wearable robotics

Cite this

Kwon, Junghan ; Park, Ji Hong ; Ku, Subyeong ; Jeong, Yeong Hyeon ; Paik, Nam Jong ; Park, Yong Lae. / A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke Patients. In: IEEE Robotics and Automation Letters. 2019 ; Vol. 4, No. 3. pp. 2547-2552.
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A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke Patients. / Kwon, Junghan; Park, Ji Hong; Ku, Subyeong; Jeong, Yeong Hyeon; Paik, Nam Jong; Park, Yong Lae.

In: IEEE Robotics and Automation Letters, Vol. 4, No. 3, 8678401, 01.07.2019, p. 2547-2552.

Research output: Contribution to journalArticle

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