JRM Vol.34 No.1 pp. 121-130
doi: 10.20965/jrm.2022.p0121


High-Dorsiflexion Assistive System for Passive Swing Phase Dorsiflexion Training and Preventing Compensatory Movements

Jing-Chen Hong*, Hiroki Ohashi**, and Hiroyasu Iwata***

*Graduate School of Creative Science and Engineering, Waseda University
3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

**Department of Neurosurgery, Jikei University School of Medicine
3-25-8 Nishi-Shinbashi, Minato-ku, Tokyo 105-8461, Japan

***Faculty of Science and Engineering, Waseda University
3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

May 6, 2021
October 20, 2021
February 20, 2022
stroke, gait rehabilitation, dorsiflexion, robotic ankle-foot orthosis, compensatory movement

Over the last few years, numerous robotic ankle-foot orthoses have been developed to help stroke patients optimize gait rehabilitation. In this paper, we present a study on the effects of assistance on dorsiflexion-restricted gait. Our high-dorsiflexion assistive system aims to provide full assistance to realize passive training of dorsiflexion during the swing phase and prevent compensatory movements. This system, which includes a McKibben-type artificial muscle and an air source, is lightweight and provides a high-dorsiflexion torque. The device could help boost overground gait rehabilitation in stroke patients. With this system, we conducted an experiment on five healthy participants whose dorsiflexion movements were restricted, and the extent of their compensatory movements differed. The results of the processed surface electromyography data differed significantly when dorsiflexion movement was assisted by our system. The spatial parameters also showed significantly improved compensatory movement inclination with sufficient assistance. These results indicate the potential of our system to assist in passive training of ankle dorsiflexion movements and to prevent incorrect gait in patients with low dorsiflexion abilities.

The appearance of the high-dorsiflexion assistive system

The appearance of the high-dorsiflexion assistive system

Cite this article as:
J. Hong, H. Ohashi, and H. Iwata, “High-Dorsiflexion Assistive System for Passive Swing Phase Dorsiflexion Training and Preventing Compensatory Movements,” J. Robot. Mechatron., Vol.34 No.1, pp. 121-130, 2022.
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Last updated on May. 10, 2024