Abstract
The paper presents the design of a lower leg orthotic device based on dimensional synthesis of multi-loop six-bar linkages. The wearable device is comprised of a 2R serial chain, termed the backbone, sized according to the wearer's limb anthropometric dimensions. The paper is a result of our current efforts in proposing a systematic process for the development of 3D printed customized assistive devices for patients with reduced limb mobility, based on anthropometric data and physiological task. To design the wearable device, the physiological task of the limb is obtained using an optical motion capture system and its dimensions are set such that it matched the lower leg kinematics as closely as possible. As a next step a six-bar linkage is synthesized and ensured that its motion is as close as possible to the physiological task. Next, the 2R backbone is replaced by the wearer's limb to provide the skeletal structure for the multiloop wearable device. During the final stage of the process the 2R backbone is relocated to parallel the human's limb on one side, providing support and stability. The designed device can be secured to the thigh of the user to guide the lower leg without causing any discomfort and to ensure a natural physiological gait trajectory. This results in orthotic device for assisting people with lower leg injuries with compact size and better wearability.
| Original language | English |
|---|---|
| Title of host publication | 41st Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| ISBN (Electronic) | 9780791858172 |
| DOIs | |
| State | Published - 2017 |
| Externally published | Yes |
| Event | ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States Duration: Aug 6 2017 → Aug 9 2017 |
Publication series
| Name | Proceedings of the ASME Design Engineering Technical Conference |
|---|---|
| Volume | 5A-2017 |
Conference
| Conference | ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 |
|---|---|
| Country/Territory | United States |
| City | Cleveland |
| Period | 08/6/17 → 08/9/17 |
Funding
The authors gratefully acknowledge the support of the National Science Foundation (NSF), award Id #1404011. We would like to thank Mark Plecnik, Postdoctoral Scholar at University of California Berkeley for his help in obtaining solutions for 11 point synthesis of Six-bar function generators. We also acknowl- edge the assistance of Ahmed Shehab, Abdulsahib Al Hazza, Hilen Rocha, Abdullaziz Al Kharas, undergraduate students in Mechanical Engineering department of California State University Fullerton in the development of the 3D prototype.