The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Analysis of the Assist Characteristics for Torque of the Ankle Plantarflexion in Elderly Adults Wearing the Ankle-Foot Orthosis

족관절 보조기를 착용한 고령자의 족관절 족저굴곡 토크 보조특성 분석

  • 김경 (전북대학교 대학원 의용생체공학과) ;
  • 강승록 (전북대학교 대학원 헬스케어공학과) ;
  • 박용군 (전북대학교 자동차부품.금형 기술혁신센터) ;
  • 정구영 (전북대학교 헬스케어기술개발사업단) ;
  • 권대규 (전북대학교 바이오메디컬공학부, 고령친화복지기기연구센터)
  • Received : 2010.01.28
  • Accepted : 2010.02.01
  • Published : 2010.02.26
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Abstract

Ankle-foot orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of ankle muscular activities was developed. In this study, the effectiveness of the system was investigated during plantarflexion motion of ankle joint. To find a effectiveness of the system, the subjects performed maximal voluntary isokinetic plantarflexion contraction on a Biodex-dynamometer. Plantarfexion torque of the ankle joint is assisted by subject's soleus muscle that is generated when ankle joint do plantarflexion motion. We used the muscular stiffness signal of a soleus muscle for feedback control of ankle-foot orthosis as physiological signal. For measurement of this signal, we made the muscular stiffness force sensor. We compared a muscular stiffness force of a soleus muscle between with feedback control and without it and a maximal plantarflexion torque between not wearing a ankle-foot orthosis, without feedback control wearing it and with feedback control wearing it in each ten elderly adults. The experimental result showed that a muscular stiffness force of a soleus muscle with feedback control was reduced and plantarflexion torque of an ankle joint only wearing ankle-foot orthosis was reduced but a plantarflexion torque with feedback control was increased. The amount of a increasing with feedback control is more higher than the amount of a decreasing only wearing it. Therefore, we confirmed the effectiveness of the developed ankle-foot orthosis with feedback control.

Keywords

References

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