Performance evaluation of a lower limb exoskeleton for stair ascent and descent with paraplegia.
Performance evaluation of a lower limb exoskeleton for stair ascent and descent with paraplegia.
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DOI：
10.1109/embc.2012.6346326
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Farris RJ;Quintero HA;Goldfarb M
本文介绍了应用动力下肢外骨骼，以帮助截瘫患者在楼梯上升和下降。沿着提供外骨骼硬件的简要描述以及实现以允许上下楼梯的控制方法的解释。对截瘫患者（T10完全损伤水平）进行了测试，并提供了多项试验的数据，包括执行此功能所需的髋关节和膝关节扭矩和功率。总结了关节扭矩和功率要求，包括峰值髋关节和膝关节扭矩要求分别为0.75 Nm/kg和0.87 Nm/kg，峰值髋关节和膝关节功率要求分别约为0.65 W/kg和0.85 W/kg。
This paper describes the application of a powered lower limb exoskeleton to aid paraplegic individuals in stair ascent and descent. A brief description of the exoskeleton hardware is provided along with an explanation of the control methodology implemented to allow stair ascent and descent. Tests were performed with a paraplegic individual (T10 complete injury level) and data is presented from multiple trials, including the hip and knee joint torque and power required to perform this functionality. Joint torque and power requirements are summarized, including peak hip and knee joint torque requirements of 0.75 Nm/kg and 0.87 Nm/kg, respectively, and peak hip and knee joint power requirements of approximately 0.65 W/kg and 0.85 W/kg, respectively.