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Identification of Spring Coefficient for Heel Rocker Function Support Based on Estimated Dorsiflexion Torque
Summary
This study introduces a method to identify the optimal spring coefficient for ankle rehabilitation robots. This ensures proper heel support and prevents knee deviation during gait, improving rehabilitation outcomes.
Area of Science:
- Biomechanics
- Robotics
- Rehabilitation Engineering
Background:
- Development of a high-dorsiflexion assistive robotic technology for gait rehabilitation.
- Utilizes McKibben-type artificial muscle for high dorsiflexion force with minimal weight.
- Incorporates a tension spring for heel rocker function during the loading response phase.
Purpose of the Study:
- To derive an identification equation for determining an individual-specific spring coefficient.
- To estimate the required dorsiflexion torque for supporting the heel rocker function.
- To prevent knee deviation caused by unsuitable spring coefficients in gait rehabilitation devices.
Main Methods:
- Derivation of an identification equation based on estimated dorsiflexion torque.
- Application of the derived equation to determine suitable spring coefficients.
- Evaluation of the method through tests on healthy subjects.
Main Results:
- Successfully derived an equation to identify individual-specific spring coefficients.
- Evaluation tests showed no negative effects on participants' knee angles.
- The identified spring coefficient effectively supports the heel rocker function.
Conclusions:
- The proposed identification equation enables personalized spring coefficient selection for ankle rehabilitation robots.
- This approach enhances the safety and effectiveness of robotic gait rehabilitation by preventing knee deviation.
- Optimized spring coefficients are crucial for supporting natural gait mechanics during rehabilitation.
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