Lower-limb Orthoses for Gait Assistance and Rehabilitation

Powered lower-limb orthoses are an emerging solution to restore and rehabilitate pathologically affected gait, however, underlying physiological effects are not well understood and may impose significant negative impacts on gait biomechanics. Through exploring effects of orthosis design, using a triple compound pendulum model and musculoskeletal modelling, impacts of device mass and distribution on gait biomechanics were identified. These methods form a design optimisation strategy, aiming to minimise detrimental effects and ultimately improve gait restoration and rehabilitation. This optimisation strategy was utilised in designing a novel hybrid powered ankle-foot orthosis for restoration and rehabilitation of foot-drop through compliant and unrestrictive actuation.