1. Ankle Positioning Device
Marc DeAngelis
Paul Hauris
Katherine Leshkow
Jennifer Moore
Spring 2013

2. Background Complex Joint Full Range of Motion Inversion/Eversion
Plantar Flexion/Dorsiflexion
Internal/External Rotaton

3. Introduction Basic Goals Our Goals x-, y-, z-axes Working Model
Load applied
Horizontal, vertical
5DOF
Our Goals
Working Model
User-friendly
Cost Effective
Minimal Machining

4. Designs
Pin
Layered
Framed Plates
Gimbal
Pin
4DOF

5. Layered
3DOF
Framed Plate
3 DOF

6. Gimbal
4 DOF
Built upon earlier ideas

7. Basic Conceptual Design
Selected Design
4 DOF

8. Clamp Design (Tibia)

9. Design Modifications Joint Design Motors Load Cell
Top Bracket Dimensions

10. Joint Design

11. Motor Selection

12. Motor Selection 100 lbs Calculations Torque Consideration
Weight Requirement
Final Selection

13. Design Modifications - Load Cell
Function
Importance of Location

14. Cost Analysis Base Plates 24” x 24” 1” thick Al plate - $544.97
Stabilizer Base
3/16” thick Al
$129.88
Three Motors - $719.94
TOTAL ESTIMATED COST: ,972.57

15. 2nd Status Report Goal Control Algorithm Sent Design to Machine Shop
Ordered Parts
Ready for Assembly and Testing

16. Gantt