The ankle joint (AJ) is a crucial in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, running. Ankle injuries can occur due sudden twists or turns, leading ligament sprains, strains, fractures, dislocations that cause pain, swelling, limited mobility. When AJ trauma occurs, instability happens, causing ...

Abstract This paper presents two improved adaptive model-based assistive controllers for therapeutic robotic devises based on direct rotary pneumatic soft-actuators for orthopedic and neurological rehabilitation. The controllers are based on separated models of the soft-robot and of the patient’s extremity, in order to take into account the individual patient’s behavior, effort and ability duri...

This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out of reach o...