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. 2019 Aug 13;13:63. doi: 10.3389/fnbot.2019.00063

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.