MORE | Fall 2024

Validating Impedance Control to Prevent Ankle Buckling using Cable-Driven Exoskeleton

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Existing methods of treating ankle sprains with taping and bracing have not consistently improved weight-bearing capacity during walking due to restricted ankle motion and lack of active rehabilitation. This study introduces a method to control lateral ankle motion using impedance control of a cable-driven exoskeleton. To this end, the study simulates low, medium, and high ankle stiffness levels with the exoskeleton to assess their effect on ankle buckling. A two-degree-of-freedom robotic platform is used to simulate ankle sprains during walking. The study aims to determine whether simulated ankle stiffness via the exoskeleton effectively reduces ankle buckling during normal walking.

Student researcher

Vedant Choudhary

Robotics and autonomous systems

Hometown: Tempe, Arizona, United States

Graduation date: Spring 2025