ANKLE POSITIONING AND LOAD DEVICE Faculty Advisors: Dr. Stacie Ringleb and Dr. Sebastian Bawab Vasile Grigorita Dominick Hudson Jin Hyuk Kim Bryan Mazac Christopher Parrish Christopher Villaire MAE 435APLD 09/25/2013

Purpose The purpose of this project was to design a device capable of loading and positioning the ankle in the closed kinetic chain so that the dynamics of the ankle can be realistically analyzed The device needed to be user-friendly and incorporate five DOF. APLDMAE 435

Needs To be Addressed By the end of the semester our prototype should be able to: Move in both directions for each Degree of Freedom Endure a realistic load representing average body weight Enable accurate reading of foot placement by means of a tracking pad Operate a reasonable number of cycles before maintenance is required Be cost efficient and easily reproduced by a manufacturing plants MAE 435APLD

Range of Motions This device will be able to move the ankle in five ranges of motion. Three ranges of motion are shown The last two are translation in the X and Y plane. MAE 435APLD

Previously Completed The team created a preliminary device design that had the ability to support up to a 200 pound load on load cell. Materials were sent to the Old Dominion University machine ship for fabrication. Once all the parts were received the y-axis rotation joint was assembled. A final design was put together with a working control algorithm. MAE 435APLD

Scaled Model A 3D print on a 1/3 scale of the final project was created. APLDMAE 435

Expanding On Previous Work The previous group created a design to account for the 5 Degrees of Freedom yet only made a physically working model testing 1 Degree being Plantar Flexion /Dorsiflexion Our job was to modify their design to address design flaws. Flaws that were identified Too many unnecessary parts Too much welding Safety switch needed MAE 435APLD

Modifications Have made modifications to the blueprints to accommodate the actual parts that will be ordered Have restructured some of the device to reduce the need for welding and to reduce the need for an abundance of parts. Have started to modify the control algorithm to allow for other degrees of freedom. MAE 435APLD

Outstanding Need to purchase parts Need to get parts manufactured by machine shop Assembly Test the control algorithm Test the structural soundness of the device Final Testing MAE 435APLD

Gantt Chart MAE 435APLD