Design and Fabrication of an Inflatable Soft Robot for Enhancing Foot Drop Rehabilitation

Foot drop is characterized by the inability to raise the front of the foot, resulting from a weakening of the dorsiflexor muscles. This condition can cause an unsteady and painful walking gait, increasing the risk of tripping and potential falls. The traditional method of managing foot drop involves using an ankle-foot orthosis. However, wearable robots provide a promising alternative for muscle injury rehabilitation. This paper presents a soft wearable rehabilitation robot equipped with pneumatic fiber actuators designed to assist dorsiflexor muscles. Unlike conventional medical orthoses, this soft ankle orthosis preserves natural ankle motion, facilitating a more natural gait recovery for patients. With a maximum force output of 150 Newtons and a lightweight design of just 82 grams, it offers comfortable wear, similar to regular clothing.