Active lower limb orthosis with one degree of freedom for people with paraplegia
Active lower limb orthosis with one degree of freedom for people with paraplegia
复制标题
截瘫患者一自由度主动下肢矫形器
DOI：
10.1109/icorr.2017.8009256
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Yanling Pei
中科院分区：
文献类型：
--
作者：
Michal Gloger;Goro Obinata;Eiichi Genda;Jan Babjak;Yanling Pei
设计截瘫行走装置的主要挑战可以归纳为三组：稳定性和舒适性、高效率或低能耗、尺寸和重量。本文介绍了一种经济实用的新型截瘫康复器，它能解决上述三种人群的所有问题。该装置的主要思想是基于HALO机制。HALO是一种紧凑的被动式内侧髋关节矫形器，具有对侧髋关节和踝关节联动装置，可保持双脚始终与地面平行，并辅助摆动腿部。在新设计中，内侧髋关节配备了一个致动器，新的矫形器被称为@halo。通过这次更新，我们可以实现更稳定，更流畅的行走模式，减少用户的能源消耗，同时保持其紧凑和轻便的特性。这是证明的结果，从初步实验与健全的科目，在此期间，相同的设备与无致动器进行了评估。蹒跚和过度的重心垂直高度降低了40%，与显着较小的标准偏差的情况下，主动矫形器。佩戴@halo的用户消耗的能量减少了52%，这是根据垂直偏移差异计算的。使用被动支具时，拐杖的冲量比使用前大38.5%。新的@halo设备是第一个下肢主动矫形器，只有一个致动自由度，适用于截瘫用户。
The main challenges of designing devices for paraplegic walking can be summarized into three groups, stability and comfort, high efficiency or low energy consumption, dimensions and weight. A new economical device for people with paraplegia which tackles all problems of the three groups is introduced in this paper. The main idea of this device is based on HALO mechanism. HALO is compact passive medial hip joint orthosis with contralateral hip and ankle linkage, which keeps the feet always parallel to the ground and assists swinging the leg. The medial hip joint is equipped with one actuator in the new design and the new orthosis is called @halo. Due to this update, we can achieve more stable and smoother walking patterns with decreased energy consumption of the users, yet maintain its compact and lightweight features. It is proven by the results from preliminary experiments with able-bodied subjects during which the same device with and without actuator was evaluated. Waddling and excessive vertical elevation of the center of gravity were decreased by 40% with significantly smaller standard deviations in case of the active orthosis. There was 52% less energy spent by the user wearing @halo which was calculated from the vertical excursion difference. There was measured 38.5% bigger impulse in crutches while using passive orthosis. The new @halo device is the first active orthosis for lower limbs with just one actuated degree of freedom for users with paraplegia.