title: Design of a quasi-passive 3 DOFs ankle-foot wearable rehabilitation orthosis.
abstract: Muscular rigidity and atrophy caused by long-term underactivity usually lead to foot drop, strephenopodia, foot extorsion or some other complications for the lower limb movement disorders or lower limb surgery sufferers. The ankle-foot orthosis can help patients conduct the right ankle motion mode training, inhibit spasm and prevent ankle complications. In this paper, a quasi-passive 3 DOFs ankle-foot wearable orthosis was designed on the basis of kinematics and dynamics analysis of the ankle joint. Ankle joint trajectory and dynamic characteristics similar to those of natural gait can be obtained by the combination of passive energy storage and additional power complement. In terms of function, the orthosis has shock absorption and low energy consumption. Given its excellent characteristics of comfortableness, lightweight, and anthropomorphic construction, the orthosis can be used in medical institutions for rehabilitation training or as a daily-walking auxiliary equipment for surgery sufferers.
authors.affiliation: State Key Laboratory of Robotics Institute, Harbin Institute of Technology, Harbin, 150006, Heilongjiang, China.
authors.forename: Chao
authors.initials: C
authors.lastname: Zhang
authors.affiliation: State Key Laboratory of Robotics Institute, Harbin Institute of Technology, Harbin, 150006, Heilongjiang, China.
authors.forename: Yanhe
authors.initials: Y
authors.lastname: Zhu
authors.affiliation: State Key Laboratory of Robotics Institute, Harbin Institute of Technology, Harbin, 150006, Heilongjiang, China.
authors.forename: Jizhuang
authors.initials: J
authors.lastname: Fan
authors.affiliation: State Key Laboratory of Robotics Institute, Harbin Institute of Technology, Harbin, 150006, Heilongjiang, China.
authors.forename: Jie
authors.initials: J
authors.lastname: Zhao
authors.affiliation: School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, Heilongjiang, China.
authors.forename: Hongying
authors.initials: H
authors.lastname: Yu
mesh_terms: D000843:Ankle Joint / Q000033:anatomy & histology / Q000502:physiology*; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D000067190:Exoskeleton Device; D061826:Foot Orthoses; D006801:Humans; D008954:Models, Biological; D016059:Range of Motion, Articular; D012371:Robotics / Q000295:instrumentation*
keywords: Ankle-foot wearable orthosis; anthropomorphic design; quasi-passive; rehabilitation