Design and Physical Modelling Series Elastic Actuator for Ankle-Foot Orthosis 
Aznizam Abdullah1, Marzuki Azwani bin Mazelan2, Fathul Hazrimy Ahmad3, Pranesh Krishnan4, Sazali Yaacob5
1Aznizam bin Abdullah*, Manufacturing Section, Universiti Kuala Lumpur Malaysian Spanish Institute, Kulim HiTech Park, Kulim, Kedah, Malaysia.
2Marzuki Azwani bin Mazelan, Student, Bechelor of Engineering (Hons) Mechatronics (Automotive), Universiti Kuala Lumpur Malaysian Spanish Institute, Kulim HiTech Park, Kulim, Kedah, Malaysia.
3Fathul Hazrimy Ahmad, Electrical Electronic and Automation Section, Universiti Kuala Lumpur Malaysian Spanish Institute, Kulim HiTech Park, Kulim, Kedah, Malaysia.
4Sazali bin Yaacob, Electrical Electronic and Automation Section, Universiti Kuala Lumpur Malaysian Spanish Institute, Kulim HiTech Park, Kulim, Kedah, Malaysia.
5Pranesh Krishnan, Intelligent Automotive Systems Research Cluster, Electrical Electronic and Automation Section, Universiti Kuala Lumpur Malaysian Spanish Institute, Kulim HiTech Park, Kulim, Kedah, Malaysia.
Manuscript received on April 11, 2020. | Revised Manuscript received on May 15, 2020. | Manuscript published on June 30, 2020. | PP: 210-215 | Volume-9 Issue-5, June 2020. | Retrieval Number: A1432109119/2020©BEIESP | DOI: 10.35940/ijeat.A1432.069520
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper describes the development of Physical Modelling of Series Elastic Actuator for Active Ankle-Foot Orthosis by using Simscape Multibody Link. Active Ankle-Foot Orthosis is essential that can be used for the rehabilitation process to the patient. It is useful in medicine to help a patient who loses their walking ability, due to ankle weakness, to regain the walking ability. This project focuses on the design, simulate and physical modelling for Ankle-Foot Orthosis. This project was used Solidworks as a platform to design the Active Ankle-Foot Orthosis and using MatLab/Simulink for simulation by using Simscape Multibody Link tools. The Active Ankle-Foot Orthosis moves in 2 basic movement of ankle that is dorsiflexion and plantar flexion for rehabilitation. So, this project focuses on the physical modelling for the Series Elastic Actuator that drives the ankle movement mimicking the normal gait cycle.
Keywords: Ankle foot orthosis, gait cycle, impedance control, series elastic actuator, Simscape multibody link.