Table 2.
Overview of wearable ankle robot based PMA.
References | Weight | Actuator | An/Posterior | Single/double | Control | DOF | Peak torque |
---|---|---|---|---|---|---|---|
Ferris et al., 2005 | 1.6 kg | PMA | An/Posterior | Single | Tibialis anterior EMG Soleus EMG |
Df/ Pf | 38 Nm Df 70 Nm Pf |
Ferris et al., 2006 | 1.7 kg | PMA | An/Posterior | Single | Tibialis anterior EMG Soleus EMG |
Df/ Pf | 20.7 Nm Df 50.7 Nm Pf |
Sawicki et al., 2005 | / | PMA | Posterior | Single | Soleus EMG | Pf | 27 Nm Pf |
Footswitch | Pf | 1.16 Nm/kg Pf | |||||
Pushbutton (PC/TC) | Pf | / | |||||
Sawicki et al., 2006 | 1.1 kg | PMA | Posterior | Single | Pushbutton (PC/TC) | Pf | 0.33 ± 0.02 Nm/kg Pf |
Koller et al., 2015 | 2.08 kg | PMA | Posterior | Single | Soleus EMG | Pf | / |
Koller et al., 2018 | Soleus EMG Footswitch |
Pf | / | ||||
Kao et al., 2010 | 1.1 kg | PMA | Posterior | Double | Soleus EMG | Pf | 50.09 ± 12.05 Nm Pf |
Kao and Ferris, 2009 | / | PMA | Anterior | Single | Tibialis anterior EMG | Df | 0.12 ± 0.09 Nm/kg Df |
Bharadwaj et al., 2005; Ward et al., 2007 | / | SOM | Anterior | Double | Position control | Df/ Pf Is/Es |
/ |
TC, therapist control; PC, patient control; Df, Dorsiflexion; Pf, Plantar flexion; Is, inversion; Es, eversion.