@inproceedings{3b97940cf1314fdfb32170021de0f861,
title = "Toward A Soft Robotic Ankle-Foot Orthosis (SR-AFO) Exosuit for Human Locomotion: Preliminary Results in Late Stance Plantarflexion Assistance",
abstract = "This paper presents the design of a soft robotic ankle-foot orthosis (SR-AFO) exosuit to aid in plantarflexion for gait rehabilitation in individuals who suffer from irregular gaits due to stroke or other injuries. The SR-AFO exosuit is a sock-like garment fabricated from compliant fabrics. The SR-AFO exosuit aids in late stance of the walking gait in plantarflexion by contracting the actuator to pull the posterior end of the foot upward. This helps to reduce the muscle effort of the user during plantarflexion. The addition of a second actuator shows a 45.3% increase to 13. 51± 0.31 kg payload capacity. The actuators are oriented at an optimal angle of 5° to produce the highest pulling force. Three healthy participants are evaluated during walking trials with and without SR-AFO exosuit assistance while ankle angle and muscle activity are monitored. The gastrocnemius (GA) and soleus (SOL) muscle activity during late stance is reduced by 13.4% and 16.6% respectively. Tibialis anterior (TA) increases slightly during swing most likely due to the hysteresis in the system deflating during that window. The ankle range of motion remains within natural walking limitations and plantarflexion angle increases when the SR-AFO exosuit is active. ",
keywords = "Assistive Robots, Rehabilitation, Soft Robotics, Wearable Robots",
author = "Thalman, {Carly M.} and Tiffany Hertzell and Hyunglae Lee",
note = "Funding Information: C. M. Thalman is funded by the National Science Foundation, Graduate Research Fellowship Program (NSF-GRFP) award #1841051. This work is funded by the Global Sport Institute of the adidas and Arizona State University (ASU) Global Sport Alliance. The authors would like to thank Kayleigh Gavin and Omik Save for contribution. Funding Information: ACKNOWLEDGEMENTS C. M. Thalman is funded by the National Science Foundation, Graduate Research Fellowship Program (NSF-GRFP) award #1841051. This work is funded by the Global Sport Institute of the adidas and Arizona State University (ASU) Global Sport Alliance. The authors would like to thank Kayleigh Gavin and Omik Save for contribution. Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 ; Conference date: 15-05-2020 Through 15-07-2020",
year = "2020",
month = may,
doi = "10.1109/RoboSoft48309.2020.9116050",
language = "English (US)",
series = "2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "801--807",
booktitle = "2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020",
}