A Method for the Autonomous Control of Lower Limb Exo-skeletons for Persons with Paraplegia.
A Method for the Autonomous Control of Lower Limb Exo-skeletons for Persons with Paraplegia.
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DOI：
10.1115/1.4007181
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发表时间：
2012-12-12
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Quintero HA;Farris RJ;Goldfarb M
最近，几个研究小组报告了开发计算机控制的下肢矫形器的努力，以使截瘫患者能够进行腿部运动。这样的系统必须采用为截瘫用户提供基本动作(即，坐、站和走)的控制框架，并且理想地使用户能够以安全、可靠和直观的方式自主地命令这些不同的动作。本文描述了一种控制方法，该方法使截瘫用户能够根据该设备测量的姿势信息来执行坐、站和走动作。所提出的用户界面和控制结构被实施在动力下肢矫形器上，并在T10完全性损伤的截瘫受试者上进行了测试。实验数据表明，所提出的控制体系结构能够提供适当的用户发起的坐、站和行走控制。作者还提供了一个视频链接，定性地展示了用户通过所提出的控制方法独立控制基本动作的能力。
Efforts have recently been reported by several research groups on the development of computer-controlled lower limb orthoses to enable legged locomotion in persons with paraplegia. Such systems must employ a control framework that provides essential movements to the paraplegic user (i.e., sitting, standing, and walking), and ideally enable the user to autonomously command these various movements in a safe, reliable, and intuitive manner. This paper describes a control method that enables a paraplegic user to perform sitting, standing, and walking movements, which are commanded based on postural information measured by the device. The proposed user interface and control structure was implemented on a powered lower limb orthosis, and the system was tested on a paraplegic subject with a T10 complete injury. Experimental data is presented that indicates the ability of the proposed control architecture to provide appropriate user-initiated control of sitting, standing, and walking. The authors also provide a link to a video that qualitatively demonstrates the user’s ability to independently control basic movements via the proposed control method.
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