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Innovative Ankle Positioning Device: Enhancing Mobility with Advanced Joint Control

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This paper presents the development of a state-of-the-art Ankle Positioning Device designed to optimize full-range motion, enabling comprehensive movement across inversion/eversion and plantar flexion/dorsiflexion. Emphasizing user-friendliness and cost-effectiveness, the device operates on principles involving multiple degrees of freedom (5DOF) while incorporating horizontal and vertical load applications. Our progress includes design prototypes featuring layered framed plates and a gimbal mechanism. Key objectives include refining the control algorithm, improving joint design, and conducting a thorough cost analysis.

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Innovative Ankle Positioning Device: Enhancing Mobility with Advanced Joint Control

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Presentation Transcript

  1. Ankle Positioning Device Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore Spring 2013

  2. Background Complex Joint Full Range of Motion • Inversion/Eversion • Plantar Flexion/Dorsiflexion • Internal/External Rotaton

  3. Introduction • Basic Goals • x-, y-, z-axes • Load applied • Horizontal, vertical • 5DOF • Our Goals • Working Model • User-friendly • Cost Effective • Minimal Machining

  4. Designs Pin Pin Layered Framed Plates Gimbal • 4DOF

  5. 3DOF • 3 DOF Layered Framed Plate

  6. Gimbal • 4 DOF • Built upon earlier ideas

  7. Semester Accomplishments Inventor Model Designed 4th DOF

  8. Semester Accomplishments Clamp Design (Tibia)

  9. Midterm Goal • Control Algorithm • Joint Design • Cost Analysis • Motor Selection

  10. Gantt Chart

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