SOFT-ROBOT-ASSISTED ANKLE MOBILIZATION: EXTENSIBLE ACTUATOR DESIGN, CHARACTERIZATION AND CLINICAL TESTING

Abstract

This thesis presents the research of a novel soft robotic sock device aimed at providing ankle rehabilitation for immobile patients, mainly targeting one main group of stroke survivors. The device utilizes soft extensible actuators that has a potential to provide alternate ankle mobilization on top of the current mechanical prophylaxis in the hospital, where patients are at high risk of developing Deep Vein Thrombosis and joint contracture by reason of lower limb stasis. With the device, patients could optimize recovery time by using the device for passive ankle mobilization with the device providing dorsiflexion-plantarflexion and eversion-inversion pneumatically. In summary, this thesis presents an extensive term of work from proof of concept with characterization and testing of actuators with soft robotic sock prototypes, to healthy subject feasibility study to determine effectiveness before testing on patients.