Design, development, and validation of a non-backdrivable active ankle-foot orthosis for the TWIN lower-limb exoskeleton

Design, development, and validation of a non-backdrivable active ankle-foot orthosis for the TWIN lower-limb exoskeleton

This study’s primary objective was to develop an Active Ankle-Foot Orthosis (AAFO) specifically designed for integration into lower-limb exoskeletons. An analysis of human ankle motion is conducted to inform the development process, guiding the creation of an AAFO that aligns with specifics extrapol...

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Bibliographic Details
Main Authors: Raffaele Giannattasio, Nicolò Boccardo, Riccardo Vaccaro, Heeral Bhatt, Stefano Maludrottu, Elena De Momi, Matteo Laffranchi
Format: Article
Language:English
Published: Frontiers Media S.A. 2025-08-01
Series:Frontiers in Robotics and AI
Subjects:
robotics
ankle-foot orthosis
rehabilitation
exoskeleton
minimum jerk
motion planning
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2025.1647989/full
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https://www.frontiersin.org/articles/10.3389/frobt.2025.1647989/full

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