University of Twente Student Theses


Developments in 2 degree of freedom fine force delivery by an assistive ankle orthosis

Hendriksen, J.A.A. (2023) Developments in 2 degree of freedom fine force delivery by an assistive ankle orthosis.

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Abstract:This thesis describes the development of a 2 degree of freedom assistive ankle device. The aim was to support both plantarflexion, and inversion and eversion according to the design requirements made by the client. To do so, a methodical design approach was used, developing an assistive device that allows for full natural range of motion. The design is verified measuring the slippage of the connection to the shank as well as the EMG signals of the superficial muscles responsible for the three motions. The experiments show an average motion of the shank bracket of 2.1±1.1 mm for the different trials, which is considered relatively stable, but this comes at the cost of slight discomfort during wearing. Furthermore, for the EMG signals, a reduction up till 8.7% was seen for plantarflexion, 9.9% for eversion and the results for inversion need further research. In any case, this proves that with a Bowden cable actuated device, 2 degree of freedom actuation is possible, and that besides plantarflexors, also invertors and evertors can be supported.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
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