Full Content is available to subscribers

Subscribe/Learn More  >

Mechanical Design and Evaluation of a Novel Knee-Ankle-Foot Robot for Rehabilitation

[+] Author Affiliations
Gong Chen, Zhao Guo, Haoyong Yu

National University of Singapore, Singapore

Paper No. DETC2015-46229, pp. V003T14A015; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5710-6
  • Copyright © 2015 by ASME


This paper presents the mechanical design and evaluation of a knee-ankle-foot robot, which is compact, modular, and portable for stroke patients to carry out overground gait training at outpatient and home settings. The robot is driven by a novel series elastic actuator (SEA) for safe human-robot interaction. The SEA employs one soft translational spring in series with a stiff torsion spring to achieve high intrinsic compliance and the capacity of providing peak force. The robotic joint mechanism and the selection of the actuator springs are optimized based on gait biomechanics to achieve portability and capability. The robot demonstrated stable and accuracy force control in experiments conducted on healthy subjects with overground walking. Major leg muscles of the subjects showed reduced level of activations (Electromyography, EMG) while maintaining normal gait patterns with robotic assistances, indicating the robot’s capability of providing effective gait assistance.

Copyright © 2015 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In