1. Ankle Positioning Device
2nd Status Report
April 2, 2013
Marc DeAngelis
Paul Hauris
Katherine Leshkow
Jennifer Moore

2. Project Goals Ankle Positioning Device Automated Device
Full Range of Motion
Load
Vertical Translation
Horizontal Translation
Automated Device
User-controlled
3DOF
Hand-held controller

3. Midterm Design

4. Top Plate
Heel Cup
Criss-cross
Front Ankle Brace

5. 3D Print
¼ Scale
4.5”x 6” x 6.25”
Pieces Move
Design Flaws

6. Control Algorithm Automate 3DOF Hand-held Device 45° Maximum IMU
Breadboard
45° Maximum

7. Control Algorithm Neutral Position 90° Servos 0° - 180° Maximum 45°
Ideal: 45°- 135°
Actual: 49° (Plantar Flexion) - 131° (Dorsiflexion)
Without Servo

8. Control Algorithm
Without Filter
With Filter

9. Final After Reviewing 3D Model 3rd DOF for Algorithm
Redesign Support Structure
Redesign Horizontal Translation
3rd DOF for Algorithm

10. Gantt