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<p>This paper proposes a semi-active ankle assistive device designed for level ground walking. The device utilizes the dorsiflexion and plantarflexion of the ankle and metatarsophalangeal (MTP) joints to generate assistive torque via the contraction and relaxation of an elastic element. To characterize the deformation behavior of this element throughout the gait cycle, we conducted a kinematic analysis of the device, followed by simulation studies. Treadmill walking experiments were then performed to validate the device’s effectiveness. The results suggest a trend toward improved gait performance, with a 1.44% reduction in metabolic cost compared to walking without the device and an 8.59% reduction compared to walking with the device in an unassisted mode. Moreover, the elastic element’s peak tensile force occurred 4.6% later than the moment of maximum ankle dorsiflexion, thereby enhancing assistance during the late stance phase.</p>

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Design and Experimental Validation of Semi-Active Ankle Assistive Device

  • 期刊论文

  • 发表日期：

    2025年11月19日

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  • Young June Shin,
  • Gwang Tae Kim

摘要

This paper proposes a semi-active ankle assistive device designed for level ground walking. The device utilizes the dorsiflexion and plantarflexion of the ankle and metatarsophalangeal (MTP) joints to generate assistive torque via the contraction and relaxation of an elastic element. To characterize the deformation behavior of this element throughout the gait cycle, we conducted a kinematic analysis of the device, followed by simulation studies. Treadmill walking experiments were then performed to validate the device’s effectiveness. The results suggest a trend toward improved gait performance, with a 1.44% reduction in metabolic cost compared to walking without the device and an 8.59% reduction compared to walking with the device in an unassisted mode. Moreover, the elastic element’s peak tensile force occurred 4.6% later than the moment of maximum ankle dorsiflexion, thereby enhancing assistance during the late stance phase.