TY - GEN
T1 - Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque
AU - Hong, Jing Chen
AU - Hayashi, Yuki
AU - Suzuki, Shigeru
AU - Fukushima, Yuta
AU - Yasuda, Kazuhiro
AU - Ohashi, Hiroki
AU - Iwata, Hiroyasu
N1 - Funding Information:
*Research supported by JSPS KAKENHI Grant number JP26289028 and Waseda University.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.
AB - In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.
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U2 - 10.1109/ICORR.2019.8779393
DO - 10.1109/ICORR.2019.8779393
M3 - Conference contribution
C2 - 31374655
AN - SCOPUS:85071195542
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 355
EP - 359
BT - 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
PB - IEEE Computer Society
T2 - 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Y2 - 24 June 2019 through 28 June 2019
ER -