Paper Info
Title
Mechanical design of a portable knee-ankle-foot robot
Abstract
We are developing an intelligent compact and modular knee-ankle-foot robot gait rehabilitation at outpatient and home settings. The robot is designed with a novel compact compliant force controllable actuator. We adopt a modular design for the knee and ankle joint so that the robot can assist patients with different conditions of gait impairments. The light-weight anthropomorphic structure designed based on biomechanical studies is built with advanced composite materials to achieve portability. A prototype of the robot has been built for testing. In this paper, we present the mechanical design of the robot with focus on the actuator and mechanism design and analysis, with testing results to demonstrate the performance of the actuator.
Year
DOI
Venue
2013
10.1109/ICRA.2013.6630870
ICRA
Keywords
Field
DocType
medical robotics,control system synthesis,modular knee-ankle-foot robot gait rehabilitation,patient assistance,compact compliant force controllable actuator,portable knee-ankle-foot robot,gait analysis,patient care,actuators,mechanical design,intelligent compact knee-ankle-foot robot gait rehabilitation,light-weight anthropomorphic structure,modular design,force,robots
Gait,Simulation,Control engineering,Mechanism design,Gait analysis,Software portability,Engineering,Modular design,Robot,Ankle,Actuator
Conference
Volume
Issue
ISSN
2013
1
1050-4729
ISBN
Citations 
PageRank 
978-1-4673-5641-1
11
0.96
References 
Authors
6
8
Name
Order
Citations
PageRank
Haoyong Yu162174.47
Manolo S. T. A. Cruz2110.96
Gong Chen3151.48
Su-Nan Huang450561.65
Chi Zhu59219.81
Effie Chew6202.61
Yee Sien Ng7141.36
Nitish V. Thakor8111.97