Mechanical design of a portable knee-ankle-foot robot

Haoyong Yu, Manolo Sta Cruz, Gong Chen, Sunan Huang, Chi Zhu, Effie Chew, Yee Sien Ng, Nitish V. Thakor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2183-2188
Number of pages6
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Yu, H., Cruz, M. S., Chen, G., Huang, S., Zhu, C., Chew, E., Ng, Y. S., & Thakor, N. V. (2013). Mechanical design of a portable knee-ankle-foot robot. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 2183-2188). [6630870] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630870