Abstract:
An apparatus for distal extremity rehabilitation includes a mechanical ground subassembly for disposition on a dorsal side of a patient's distal extremity, at or near a joint of the patient. The distal extremity may include the hand/wrist complex or the ankle/foot complex. The mechanical ground assembly may be constructed to match contours of the patient's distal extremity. The apparatus further includes a distal effector subassembly for disposition upon one or more distal appendages of the patient, the distal effector subassembly coupled to the mechanical ground subassembly. The apparatus also includes an LED thimble subassembly for disposition on one or more finger tips of the patient, and an LED object subassembly with which the patient interacts by manipulating the LED thimble with respect to the LED object.
Abstract:
A method of constructing a sensor includes depositing a first material in a predetermined arrangement to form a structure. The depositing results in at least one void occurring within the structure. The method further includes depositing a second material within the voids. The second material may have electrical properties that vary according to deformation of the second material. The method also includes providing electrical access to the second material to enable observation of the one or more electrical properties. A sensor includes a structure that has one or more voids distributed within the structure. The sensor also includes a material deposited within the one or more voids. The material may be characterized by one or more electrical properties such as piezoresistivity. The sensor includes a first contact electrically coupled to a first location on the material, and a second contact electrically coupled to a second location on the material.
Abstract:
The Active Knee Rehabilitation Orthotic System (ANdROS) is a wearable and portable assistive tool for gait rehabilitation and monitoring of people with motor control deficits due to a neurological ailment, such as stroke. ANdROS reinforces a desired gait pattern by continually applying a corrective torque around the knee joint, commanded by a impedance controller. A sensorized yet unactuated brace worn on the unimpaired leg is used to synchronize the playback of the desired trajectory based on the user's intent. The device is mechanically grounded through two ankle foot orthoses (AFOs) rigidly attached to the main structure, which helps reduce the weight perceived by the user.
Abstract:
A method of constructing a sensor includes depositing a first material in a predetermined arrangement to form a structure. The depositing results in at least one void occurring within the structure. The method further includes depositing a second material within the voids. The second material may have electrical properties that vary according to deformation of the second material. The method also includes providing electrical access to the second material to enable observation of the one or more electrical properties. A sensor includes a structure that has one or more voids distributed within the structure. The sensor also includes a material deposited within the one or more voids. The material may be characterized by one or more electrical properties such as piezoresistivity. The sensor includes a first contact electrically coupled to a first location on the material, and a second contact electrically coupled to a second location on the material.
Abstract:
A balanced planetary gearbox including an assembly having an input stage and an output stage. The assembly includes two grounds, each with ground rollers and ground rings. The two grounds are fixedly attached to one another. The assembly includes a sun gear and planet sub-assemblies between the two grounds. The planet sub-assemblies include at least one input planet gear and one output planet gear. The sun gear and the input planet gears include rollers. An abutment of rollers in the gearbox keeps the sun gear and the planet gears in alignment. The output gear meshes with an output ring disposed in between the two ground rings, such that a combination of the at least one input planet gears from each of the plurality of planet sub-assemblies provides a structural symmetry to the planetary gearbox.
Abstract:
In some embodiments, systems and methods are described for a gear contact system configured to support radial, thrust, and moment loads, the system comprising a first gear comprising a first roller having a first roller bearing surface, the first roller bearing surface having a convex curvature defined by a first radius of curvature; and a second gear comprising a second roller having a second roller bearing surface, the second roller bearing surface having a concave curvature defined by a second radius of curvature.
Abstract:
According to an aspect of the invention, a robotic ankle and balance training platform comprises a footplate to support a foot. The footplate is capable of rotation about an inversion/eversion axis and a plantar/dorsiflexion axis. The robotic platform further comprises an actuation system configured to apply an assistive inversion/eversion force and a resistive inversion/eversion force to the footplate and an assistive plantar/dorsiflexion force and a resistive plantar/dorsiflexion force to the footplate.