Ankle Positioning Device

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Presentation transcript:

Ankle Positioning Device 2nd Status Report April 2, 2013 Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore

Project Goals Ankle Positioning Device Automated Device Full Range of Motion Load Vertical Translation Horizontal Translation Automated Device User-controlled 3DOF Hand-held controller

Midterm Design

Top Plate Heel Cup Criss-cross Front Ankle Brace

3D Print ¼ Scale 4.5”x 6” x 6.25” Pieces Move Design Flaws

Control Algorithm Automate 3DOF Hand-held Device 45° Maximum IMU Breadboard 45° Maximum

Control Algorithm Neutral Position 90° Servos 0° - 180° Maximum 45° Ideal: 45°- 135° Actual: 49° (Plantar Flexion) - 131° (Dorsiflexion) Without Servo

Control Algorithm Without Filter With Filter

Final After Reviewing 3D Model 3rd DOF for Algorithm Redesign Support Structure Redesign Horizontal Translation 3rd DOF for Algorithm

Gantt