Robotic Gait Simulator

Abstract

Continuing the evolution of orthopaedic solutions to common musculoskeletal disorders and injuries results in the need for increasingly complex and physiologically accurate models of human movement. As such, lower limb cadaveric simulators are suitable for investigating the biomechanics of the foot/ankle in a controlled, clinical setting and provide insightful information to the researchers concerning gait cycles. The interdisciplinary team was tasked with modifying an existing Robotic Gait Simulator (RGS) in order to enhance the capabilities of the previous model. The solutions are implemented easily and designed to interface with the current system. These include: additional tendon simulators – linear actuators – and replacement with more robust versions – capable of delivering larger forces at higher speeds – , updated load cells and electronics, a Guided User Interface (GUI) to operate the system, modifications to the aluminum frame to accommodate the supplemented tendons, a “flange” designed to maintained correct tendon-pull direction, and a friction-power treadmill to provide ground reaction forces of the foot/ankle model during varying gait. The finalized RGS was successfully built and tested with approximated tendon-force curves developed via a MATLAB program. The analysis showed promising results and its modular design opened the possibility of future enhancements.