Computational Method for Network Passive Software Robotic Devices

Several research groups have entertained the concept of diagonal spring elements for rendering torque to an orthotic joint. Here, we expand the development in two ways, by stacking several in parallel, and secondly recognizing that these elements act as basis functions that can be simultaneously tuned to deliver any desired torque-angle relation. These systems can be custom designed to a patient’s specific motor deficits, thus filling in the deficits of motor abilities, and constructed quickly by a therapist–or even by the patient himslef. Here we present the design methods.