Project

General

Profile

Gait Ankle » History » Revision 3

Revision 2 (Bjarni Kristjánsson, 2012-01-19 16:01) → Revision 3/7 (Kristján Oddsson, 2012-01-19 16:16)

h1. Gait Ankle 

 h2. Notes from Kristján. 

 h3. Phases from the prespective of the ankle 

 * Initial contact 
 ** Neutral (90°), slight dorsiflexion. Preparing for response. 
 * Loading response 
 ** Plantar flexion (10°). Function: Shock response. 
 * Mid stance 
 ** Dorsiflexion (from 8° plantarflex to 5° dorsiflex). Function: Allow forward progression of tibia. 
 * Terminal stance 
 ** Heel rise (doriflexion up to 10°) 
 * Pre-swing 
 ** Plantar-flexion (20°). Function: Initiate knee flexion for swing. 
 * <Missing> (I actually missed what the guy said here, if anyone has it please edit the file and add it.) 
 ** Slight dorsiflexion in the ankle to prepare hitting the ground again. 

 h1. Ankle design ideas 

 * Flexible sole 
 * Hinge joint motorized 
 ** Possible second axis of swivel 
 * Springs or elastic for "natural" shock absorption 
 * Possibilities for more gait types than heel hell to toe roll