Mechanical bracing solutions to decrease tibial slippage of Anklebot

Abstract

Anklebot is a general-purpose therapeutic robot designed to guide the human ankle through motions with appropriate assistance. Anklebot relies on accurate position feedback from its actuators, which may or may not be corrupted due to slippage of Anklebot. This study seeks to quantify the slippage that exists using the current shoulder strap support system and seeks to identify new methods of support that warrant further investigation. An exoskeleton support system and a waist support system made of bungees attached to a belt were prototyped methods to improve upon the current shoulder strap design. Variance in the separation between markers on the knee brace and leg was used as a measure of slippage. The exoskeleton did not decrease slippage primarily due to high tolerances in the inversion-eversion joint at the heel of the shoe. The waist support system decreases slippage when enough bungees were attached. Further work on the waist support system is recommended.