Abstract
This paper presents the ankle-foot orthosis using Stewart platform for trip prevention support. The developed orthosis can reproduce the input motions of the ankle joint in six degrees of freedom. We conducted performance verification experiments of the developed orthosis. Verification experiments of motion reproducibility were implemented by comparing the reproduced motions with the input motions. The experimental results showed that the root mean square error values of the 3D position and rotation angle were 6.5 mm and 2.8°, respectively. Verification experiments of the walking support performance were implemented by comparing motions in each walking condition were measured using motion capture system. The experimental results showed that Angular Displacement of right foot joint while Mid Swing and Initial Swing significantly increased by the walking support with the developed orthosis. The orthosis can conduct passive exercises for ankle rehabilitation and support walking for trip prevention.
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