2026-09-19T12:33:47Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/602042022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Neville J Hogan.
Tao, Gregory Daniel
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-12-06T17:37:41Z
2010-12-06T17:37:41Z
2010
2010
http://hdl.handle.net/1721.1/60204
682155820
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 19).
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.
by Gregory Daniel Tao.
S.B.
19 p.
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Mechanical bracing solutions to decrease tibial slippage of Anklebot
Thesis
application/pdf
Publication
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<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.</Abstract>
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