Development of a mobility assist for the paralyzed, amputee, and spastic patient
Development of a mobility assist for the paralyzed, amputee, and spastic patient
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为瘫痪、截肢和痉挛患者开发行动辅助装置
DOI：
10.1109/sbec.1996.493115
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
G. Thompson
中科院分区：
文献类型：
--
作者：
D.C. Johnson;D. Repperger;G. Thompson
正在开发一种外骨骼系统，以帮助行走障碍患者的活动。个人机器人辅助的新方法解决了许多经典的重量，功率，耐力和成本问题。一个多功能的开发平台允许许多变化和应用，包括瘫痪，截肢和痉挛患者的移动辅助（MAPAS）。根据所需力的大小，使用各种支撑和支架上的带。MAPAS系统利用压缩气体为主要的力量产生元件或肌肉提供动力。气动肌肉用于提供具有中等压力水平的可控关节扭矩。这些肌肉安装在支架上，为关节提供仅拉力扭矩。MAPAS控制系统的特点是解释关节映射。每个腿部关节的功能主要通过手指关节传感器的输出来引导。一个六到八个传感器的手持测角器为系统提供用户输入。由车载智能设备驱动的更高控制功能使手指关节输入得到增强，提供平衡、步态预测、故障恢复和痉挛特征补偿。环境压力水平的车载水库可以改变，以适应不断变化的环境，从沉重的截肢者走上楼梯，以轻微纠正轻度痉挛。整个系统是便携式的，配有车载电池、压缩空气储存器、智能算法和测角传感器。
An exoskeleton system is being developed to aid in the mobilization of walking-impaired patients. New approaches to personal robotic assists have solved many classic problems with weight, power, endurance, and cost. A versatile platform of development allows for many variations and applications including mobility assist for the paralyzed, amputee, and spastic patient (MAPAS). A variety of strap on supports and braces are used, depending on the magnitude of the forces required. The MAPAS system utilizes compressed gas to power the main force producing elements, or muscles. Pneumatic muscles are used to provide controllable joint torque with moderate levels of pressure. These muscles are mounted to the brace, providing pull-only torque to joints. The MAPAS control system features interpreted joint mapping. The function of each leg joint is primarily directed through the output of a finger joint sensor. A six to eight sensor hand goniometer provides the system with user input. Higher control features actuated by on-board intelligent devices enable finger joint inputs to be enhanced providing balance, gait anticipation, fault-recovery, and spasm signature compensation. Ambient pressure levels of on-board reservoirs can be changed to suit changing environments ranging from heavily loaded amputee walking up stairs to the slight correction of a mild spasm. The entire system is portable with on-board batteries, compressed air reservoirs, intelligent algorithms, and goniometric sensors.