The ReWalk ReStore™ soft robotic exosuit: a multi-site clinical trial of the safety reliability and feasibility of exosuit-augmented post-stroke gait rehabilitation

摘要

The ReWalk ReStore™ consists of an actuator assembly, calf wrap assembly, and shoe insole. A power supply is integrated into the actuator assembly. Bowden cables span these components to transmit assistive forces generated by the actuator to the ankle. More specifically, two Bowden cables are used in the ReStore™, each having attachment points proximal (on the Calf Wrap Assembly) and distal (on the Insole) to the ankle. One of the cables is located anterior to the ankle and the other is located posterior to the ankle. When the anterior cable is retracted, an ankle dorsiflexion torque is produced. When the posterior cable is retracted, an ankle plantarflexion torque is produced