Design of a Robotic Wearable Shoes for Locomotion Assistance System

Abstract

The inability of a patient to move freely or one part of the body paralysis is an indication of stroke disease or symptoms. This challenge resulted in locomotion of body impairment. In this research, a robotic wearable locomotion assistance system in a pair of shoes is developed using closed-control of mechatronic and embedded system approach. This is to render assistance for the patient impairment locomotion, to improve the passive control and design of orthoses for the structural support of the people with moderate lower-limb weaknesses. The adaptation of this system is varied in position during motion instantaneously and to manage the stiffness of the joint. This wearable robotic shoe helps the paralytic leg (prosthesis) to track the position of the non-paralytic leg using awareness of the sensor and transceivers to establish the communication between the foot posture and support. It also helps the stroke patient with orthoses or prostheses of (foot and leg) to walk linearly in an upright position (maintaining alignment of foot and leg), improving balance, and support the arch and heel of the patient. This system prototype was implemented and tested, and the results show high accuracy in linear tracking and alignment.