A soft robotic sock device for ankle rehabilitation and prevention of deep vein thrombosis

We present a soft robotic sock device developed to provide robotic assistance in ankle dorsiflexion and plantarflexion of stroke patients who are at high risk of developing deep vein thrombosis. The actuators extend when infused with pressurized air, so as to guide the ankle into plantarflexion motion. On the other hand, the actuators contract back to their initial length when deflated to pull the ankle into dorsiflexion. In this work, the...