T-FLEX

DESCRIPTION

What is T-FLEX?

T-FLEX is a wearable and portable active ankle-foot orthosis, which incorporates concepts of bioinspiration and variable stiffness actuation. The main goal of this exoskeleton consists of assisting the dorsi-plantarflexion movements of the ankle joint, although without restricting the other motions (i.e., eversion, inversion, pronation, and supination).

T-FLEX emulates the muscle functions employing the bidirectional antagonistic actuation and the mechanical behavior of the Achilles tendon through composite filaments. In terms of operability, a smart device can configure T-FLEX to work as a gait assistant or robotic platform in the therapy modality.

How does it work?

T-FLEX employs an electric actuation mechanism for producing assistive and resistive movement. This mechanism consists of two servomotors (Dynamixel MX106T, Robotis, USA) placed on the posterior and anterior parts of the user’s shank.

The motors are attached in series with tendons (fishing rod coiled around a 2.85 mm Filaflex thread, whose dynamic behavior makes them bio-inspired), which are attached to the patient’s heel and forefoot by means of a customized insole.

These tendons are handled in such a way that they resemble the behavior of two antagonist muscles, as ankle impedance is varied in response to walking phase and step-to-step gait variations.




What strategies does it include ?

The robotic device works with “Jumping Guy: Ankle Exoskeleton Therapy with T-FLEX” a retro, adventure and serious game developed for a unique player in Unity software. The design of this strategy combines an audiovisual and motivational feedback to enhance and increase patients’ commitment to the therapeutic process. For that, the interface indicates the user progress and motivates with encouraging messages.

The game control strategy uses the plantar and dorsal flexion movements assisted with T-FLEX to activate the avatar jump over the enemies. As follows, it increases the intensity of the therapy and counteracts the adaptation period in repetitive exercises. T-FLEX and the serious game are expected to accelerate the motor rehabilitation process and induce neuroplasticity.


Where are we now?

Several versions of T-FLEX have been deployed around the world:

  • Center for Biomechatronics - Colombia.

  • BMI Lab - Spain.

  • Hospital Nacional de Paraplégicos - Spain.

  • EPF ÉCOLE D'INGÉNIEUR-E-S - France.

  • Corporación de Rehabilitación Club de Leones Cruz del Sur - Chile


TEAM

Daniel Alejandro Gómez Vargas

Software and Control Developer

📧 daniel.gomez-v

Angie Daniela Pino López

Software Developer

📧 angie.pino-l

Felipe Ballén Moreno

Mechanical designer

📧 felipe.ballen

Marcela Múnera

Project manager

📧 marcela.munera

Carlos Andrés Cifuentes García

Project manager

📧 carlos.cifuentes

FUNDING

Colombian School of Engineering Julio Garavito

Internal Funds

COLCIENCIAS

Grant 801-2017

REASISTE

Grant 216RT0505

CYTED

AWARDS

One of “five history-changing ideas in Latin America" by History Channel (2017)

VIDEOS

  • AK.45 No.205-59 (North Highway)

  • Contact center: +57(1) 668 3600

  • National toll-free number: 018000112668

  • Detailed information at: www.escuelaing.edu.co

  • Juridical Personality 086, January 19th, 1973. High quality institutional accreditation.

  • Resolution 20273, November 27th, 2014. (Valid for 4 years).

  • Supervised by the National Ministry of Education.

  • Bogotá, D.C. - Colombia

  • © 2015 Escuela Colombiana de Ingeniería Julio Garavito