2.7 Fixtures and Mounting To avoiddiscomfort and undue wear, it is desirable that the drivetrain be properlyaligned, both axially and rotationally, relative to the patient and tothe structure of the virtual exoskeleton system. In addition the physical structure must be constructed such that the parts designed for mounting the drivetrain are contained within structural elements which are not subject to axial or transverse displacement. To this end, the specified mounting arrangements are based on a combination of roller and universal joint.]
Each of the illustrateddrivetrain arrangements is subject to some degree of misalignment during assembly, and the azimuth of rotationassigned to the motor is one of the critical parameters. The specification ofthe azimuth of rotation can be based on one of the following criteria:
Each of the the supported prosthesis are designed to be used with a foot or foot/leg system (e.g. foot, ankle, or amputee limb ). To facilitate patient comfort and gait system performance, the footwear must be attachable to the prosthesis using a variety of attachment methods such that a patient may choose whatever method of attachment they deem appropriate for their situation.
An interconnected foot system affords the patient multiple degrees of freedom of movement. Movement of the foot in all three degrees offreedom (in the sagittal plane and in the lateral and anterior-posterior planes); and each of these movements is assigned an alternative biomechanical function. A pair of foot affords a wider range ofmovement and of support for the foot and leg. The forefoot and middle foot provide the ground contact stability.
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