Development of an Ankle Exoskeleton: Design, Modeling, and Testing

Sensors, Год журнала: 2025, Номер 25(7), С. 2020 - 2020

Опубликована: Март 24, 2025

This research presents the results of conceptual design and modeling an exoskeleton. It is intended for ankle joint rehabilitation in patients with musculoskeletal disorders. The exoskeleton includes three screw actuators that smoothly control motion planes dorsal plantar flexion, inversion, eversion. virtual tests performed on device demonstrated a high degree adaptability to varying loads different phases motion. Controlled torque fluctuations linear provide necessary support during rehabilitation, which has positive impact patient's recovery rate. advantages include material availability, ease use, flexibility customization, making it attractive option use both clinical home settings. study emphasizes importance developing affordable accurate devices can adapt individual patient needs.

Язык: Английский

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Design of an Inflatable Exhaust Valve to Improve Bandwidth of Inflatable Actuators: A Feasibility Study With a Soft Knee Wearable Robot

International Journal of Control Automation and Systems, Год журнала: 2025, Номер 23(3), С. 798 - 809

Опубликована: Март 10, 2025

Язык: Английский

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Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton

Sensors, Год журнала: 2024, Номер 24(23), С. 7845 - 7845

Опубликована: Дек. 8, 2024

Soft exoskeletons (exosuits) are expected to provide a comfortable wearing experience and compliant assistance compared with traditional rigid exoskeleton robots. In this paper, an exosuit twisted string actuators (TSAs) is developed high-strength variable-stiffness actuation for hemiplegic patients. By formulating the analytic model of TSA decoding human impedance characteristic, human-exosuit coupled dynamic constructed. An adaptive controller designed transfer skills patient's healthy limb (HL) bilateral impaired (IL) mirror training strategy, including movement trajectory stiffness profiles. A reinforcement learning (RL) algorithm proposed optimize robotic by adapting parameters subject's performance. Experiments conducted demonstrate effectiveness superiority method.

Язык: Английский

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Design, Fabrication and Control of a Soft Robotic Wrist Sleeve for Wrist Rehabilitation

2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM), Год журнала: 2024, Номер unknown, С. 107 - 112

Опубликована: Дек. 17, 2024

Язык: Английский

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