Design and development of Stewart platform-type assist device for ankle-foot rehabilitation

Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

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

3 Citations (Scopus)

Abstract

In this research, we propose a novel ankle-foot assist device for rehabilitation. This device uses a Stewart platform mechanism to measure and assist the movements of a human ankle joint in six DOF. The Stewart platform mechanism adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot. In this study, check the accuracy of motion measurement of this device and the performance of motion control of this assist device by conducting static measurement and motion reproduction experiments. The translation error and The rotation error were less than 0.5 [mm] and 0.6 [deg] respectively. The mean reproducibility of all subjects was 0.98 These experimental results show the validity of our proposed assist device.

Original languageEnglish
Title of host publicationProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
Pages1-6
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2012
Event2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 - Alexandria, Egypt
Duration: 7 Dec 20129 Dec 2012

Publication series

NameProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012

Conference

Conference2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
CountryEgypt
CityAlexandria
Period7/12/129/12/12

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Onodera, T., Ding, M., Takemura, H., & Mizoguchi, H. (2012). Design and development of Stewart platform-type assist device for ankle-foot rehabilitation. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 (pp. 1-6). [6530835] (Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012). https://doi.org/10.1109/ICIES.2012.6530835