title: Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation.
abstract: Repetitive task training is an effective form of rehabilitation for people suffering from debilitating injuries of stroke. We present the design and working concept of a robotic gait trainer (RGT), an ankle rehabilitation device for assisting stroke patients during gait. Structurally based on a tripod mechanism, the device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as actuation links which move the ankle in dorsiflex ion/plantarflexion and inversion/eversion. A unique feature in the tripod design is that the human anatomy is part of the robot, the first fixed link being the patient's leg. The kinematics and workspace of the tripod device have been analyzed determining its range of motion. Experimental gait data from an able-bodied person wearing the working RGT prototype are presented.
authors.affiliation: Human/Machine Integration Laboratory, Arizona State University, Tempe, AZ 85287, USA.
authors.forename: Kartik
authors.initials: K
authors.lastname: Bharadwaj
authors.forename: Thomas G
authors.initials: TG
authors.lastname: Sugar
authors.forename: James B
authors.initials: JB
authors.lastname: Koeneman
authors.forename: Edward J
authors.initials: EJ
authors.lastname: Koeneman
mesh_terms: D000843:Ankle Joint / Q000503:physiopathology; D004867:Equipment Design; D019544:Equipment Failure Analysis; D020233:Gait Disorders, Neurologic / Q000209:etiology / Q000534:rehabilitation*; D006801:Humans; D018482:Muscle, Skeletal / Q000503:physiopathology; D009989:Orthotic Devices; D026741:Physical Therapy Modalities / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D020521:Stroke / Q000150:complications; D000071939:Stroke Rehabilitation; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*