Date of download: 10/31/2017 Copyright © ASME. All rights reserved. From: Development of a Soft Pneumatic Sock for Robot-Assisted Ankle Exercise J. Med. Devices. 2016;10(1):014503-014503-5. doi:10.1115/1.4032616 Figure Legend: (a) Soft extension pneumatic actuator fabricated using silicone rubber and (b) two soft actuators encased within a restraining fabric case to prevent overinflation while guiding actuator extension

Date of download: 10/31/2017 Copyright © ASME. All rights reserved. From: Development of a Soft Pneumatic Sock for Robot-Assisted Ankle Exercise J. Med. Devices. 2016;10(1):014503-014503-5. doi:10.1115/1.4032616 Figure Legend: Experimental setup of a simulated ankle–foot model, with green markers used to determine ankle joint dorsiflexion–plantarflexion angle and blue and red markers used to estimate the actuator length. The actuators are deflated and pull the ankle model into dorsiflexion. The angle θ measured represent the joint ankle which will be further used to determine the range of angular displacement of the device (range of motion). The combined length of the two lines on the actuators represent the estimated length of the actuators.

Date of download: 10/31/2017 Copyright © ASME. All rights reserved. From: Development of a Soft Pneumatic Sock for Robot-Assisted Ankle Exercise J. Med. Devices. 2016;10(1):014503-014503-5. doi:10.1115/1.4032616 Figure Legend: Average ankle joint dorsiflexion–plantarflexion profile of the three simulated ankle–foot models during sock actuation with varying stiffness values (model 1: 0.309 N · m/rad, model 2: 1.19 N · m/rad, and model 3: 2.39 N · m/rad). Dash and dotted lines represent the respective maximum plantarflexion and dorsiflexion angles measured during calibration of the simulated ankle–foot models. Increasing angle represents plantarflexion while decreasing angle represents dorsiflexion.

Date of download: 10/31/2017 Copyright © ASME. All rights reserved. From: Development of a Soft Pneumatic Sock for Robot-Assisted Ankle Exercise J. Med. Devices. 2016;10(1):014503-014503-5. doi:10.1115/1.4032616 Figure Legend: Estimated actuator length during inflation–deflation cycle of the soft actuators, as a percentage of original length, where the shaded portions of the graphs represent the standard deviation of the data

Date of download: 10/31/2017 Copyright © ASME. All rights reserved. From: Development of a Soft Pneumatic Sock for Robot-Assisted Ankle Exercise J. Med. Devices. 2016;10(1):014503-014503-5. doi:10.1115/1.4032616 Figure Legend: Mathematical model illustrating the relationship between actuator force, ankle resistance moment, and weight of the foot. Point A represents the knee joint, point B represents the ankle joint, and point C represents the metatarsal region on the foot. The segment AB represents the tibia–fibula section of the lower limb. The length of each given section is included in relation to the anatomical height of the subject, H, using anthropometry data [11].