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Multi S urface Sensing Ankle Foot Orthotic for Foot Drop

Multi S urface Sensing Ankle Foot Orthotic for Foot Drop. Christopher R. Sullivan Mechanical Engineering Student Research & innovation Symposium August 12 th , 2011 Advisor: Elizabeth A. DeBartolo, Ph.D. Gait Cycle and Foot Drop. Stance. Swing. Swing. Initial Double-Limb Support.

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Multi S urface Sensing Ankle Foot Orthotic for Foot Drop

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  1. Multi Surface Sensing Ankle Foot Orthotic for Foot Drop Christopher R. Sullivan Mechanical Engineering Student Research & innovation Symposium August 12th, 2011 Advisor: Elizabeth A. DeBartolo, Ph.D.

  2. Gait Cycle and Foot Drop Stance Swing Swing Initial Double-Limb Support Terminal Swing Second Double-Limb Support Mid-Swing Single-Limb Stance Initial Swing Periods Terminal Swing Initial Swing Mid-Swing Periods Foot Strike Opposite Toe-Off Opposite Foot Strike Tibia Vertical Foot Clearance Foot Strike Toe-Off Toe-Off % of Cycle Foot Crash Mid Trip Fallen 62% 0% 100% % of Cycle 62% 100% Image Source: http://sports.jrank.org/article_images/sports.jrank.org/dorsiflexion.1.jpg

  3. What is an Ankle Foot Orthotic? • Replace lost ankle functionality • Foot drop • Correct brace for the correct problem Dynamic Walk Jointed Brace Solid Brace Image Source: http://www.mobilelimbandbrace.com/images/Articulating_AFO_Overlap.gif http://www.spsco.com/assets/images/dynamic-walk-single-side-2_large.jpg http://proactiveasia.com/web_image/orthotics/Trulife%20semi-solid-afo_web.gif

  4. Project Goal • Create an Ankle Foot Orthotic (AFO) that adapts to differing terrain to provide the correct amount of support • Todays talk • Stakeholder interviews • Needs assessment • Preliminary design • Preliminary analysis Image Source: http://transit-safety.volpe.dot.gov/publications/safety/pedestrian/html/images/dot-tsc-umta-84-36_p0009a.gif

  5. Stakeholder Interviews • Interviewed Clients, Clinicians,and ProsthetistOrthotist • Major takeaways • Foot drop has many other compound symptoms • Pros • Allow clients to walk • Cons • weight/bulk of the AFO • Instability on ramps and stairs • AFO user’s needs can differ widely Image Source: http://www.humanresourcesdegree.net/images/stories/School%20Logos%20-%20Masters/NazarethCollege.jpg http://www.workforcediversitynetwork.com/images/logos/RGHS_stacked_150.jpg http://www.rochesterorthopedic.com/

  6. Defining the Target Clients • They should be able to supply feedback • Would not be a candidate for a commercially available AFO • Must use a jointed brace

  7. Customer Needs • Fits into a shoe • Ease of access • Adjustability • Light weight • Portable • Inexpensive • Able to be used on both sides of the body • Safety • Durability/fatigue life • Biocompatible surface • Able to be cleaned/sterilized • Functionality • Provide appropriate support for the foot at the appropriate time • Stairs • Ramp • Level surface

  8. Functional Block Diagram Multi Surface Sensing Ankle Foot Orthotic Micro-Controller Ground Identification Sensor If Ground Profile Level Ground Range of Motion Stairs or Ramp Position Power Actuator

  9. Proposed Design • Attaches to the back of existing AFO • Linear actuator shifts carriage to either side • Carriage holds two individually adjustable backstops • The actuator doesn’t have to support the foot • Infrared range finder • Detect terrain

  10. Distance Detected Level Ground vs. Descending Stairs

  11. θ3 Moment about the Ankle During Swing m2 m3 θ2 θ4 m4 m1 m5 θ5 x θ1

  12. Next Steps • Device attachment to brace • Find Ramp Gait Data • Select and test Range Finder • Select and test Actuator • Define algorithm for determining floor surface • Model Design • Build and test

  13. Acknowledgments Funding was supplied by the RGHS RIT alliance Seed fund Rochester General Hospital Richard L Barbano, MD, Ph.D., FAAN Advisor Elizabeth A. DeBartolo, Ph.D. Thesis Committee Mario Gomes, Ph.D. Kathleen Lamkin-Kennard, Ph.D. Nazareth College Physical Therapy Clinic J.J. Mowder-Tinney PT, PhD, NCS Rochester Orthopedic Labs Shawn Biehler, CPO

  14. Questions?

  15. LaGrange's Method LaGrangian operator LaGrangian force Link kinetic energy Link potential energy Resistive Energy

  16. Constraints

  17. Brainstorming

  18. Solution Combinations Design 1 Variable peek Rod Design 3 Variable peek Rod Geo Fit

  19. Initial Design Matrix

  20. IR Range Finder • Feasibility • Look into expected data 1.5” 4” 8” 12” 24” 31.5” 40” 59.5” 216.5” Source: http://www.technologicalarts.com/myfiles/data/gp2d120.pdf Figure 9. Sharp IR sensors Minimum Range Maximum Range Figure 10. Sharp IR sensors Distance Illustration

  21. Issues with Design • It adds weight • Make the Brace Lighter • Attaching to the back of an existing AFO • Adhesive • Vacuum • Use existing backstop • Velcro • Actuation • Piezoelectric Linear actuator • Knowing the Ground • Accelerometer • IR Range Finder

  22. Accelerometers • Require a lot of data analysis • Drift in integration accuracy • Measuring many different things • Most of which I am uninterested in • Most of which is very noise

  23. Carbon Fiber Brace • Breaks the project up into 2 areas • Bulk reduction in weight and size will help get patients excited about their brace • Spring properties of carbon fiber Figure 7. Carbon Fiber

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