A Pneumatic Artificial Muscle and Spring Combination System that Assists Ankle Rocker and Transforms Energy into...

Insufficient push-off is a common problem for stroke hemiplegia patients. Assistive systems using extension spring to store energy during stance phase of gait to provide push-off assistance have been developed. However, patients could also suffer poor ankle rocker function; that is, poor dorsiflexion movement in stance phase. In such case, the spring could reversely become a burden for ankle movement. In this research, we proposed a system that combines a pneumatic artificial muscle and a tension spring. The artificial muscle mimics a human's tibialis anterior muscle, while the spring mimicking the Achilles tendon. Upon foot flat event of gait, the artificial muscle contracted to assist ankle rocker function and stretched the spring to store energy simultaneously. After heel off, the artificial muscle extended and the spring was released to provide push-off assistance. A feasibility study in seven healthy participants was conducted to verify assistance effects on their ankle rocker function and push-off movements. The results show significant increase in ankle rocker angle, push-off angle, and push-off torque compared with those during normal walk when the participants were assisted by our system. Therefore, we believe that the proposed system has great potential to assist stroke survivors with problems of poor ankle rocker function and push-off movements.