Development of hybrid orthosis for standing, walking, and stair climbing after spinal cord injury
Development of hybrid orthosis for standing, walking, and stair climbing after spinal cord injury
复制标题
DOI：
10.1682/jrrd.2008.07.0087
复制
发表时间：
2009-01-01
影响因子：
--
通讯作者：
Triolo, Ronald J.
中科院分区：
文献类型：
--
作者：
Kobetic, Rudi;To, Curtis S.;Triolo, Ronald J.
本研究探讨了外骨骼支撑和多通道功能性电刺激 (FES) 混合系统促进脊髓损伤 (SCI) 后站立、行走和爬楼梯的可行性。矫形器组件由机电关节组成，可自动锁定和解锁，以提供由 FES 驱动的直立稳定性和自由运动。展示了原型设备油非残疾和 SCI 志愿者的初步结果。一种新颖的可变耦合髋部往复机构可以充当标准往复步态矫形器，也可以允许每个髋部独立锁定或自由旋转。每个臀部的旋转执行器配置在闭合液压回路中，并由基于油实时传感器信息的有限状态姿势控制器进行调节。膝盖机构在站立期间锁定以防止塌陷，并在摆动期间解锁，而脚踝则在仅限 FES 的控制下在矢状面内移动。躯干固定在刚性紧身胸衣中，新的脚踝和躯干机构正在开发中。由于外骨骼控制机构是由现成的组件构建的，因此尚未满足临床使用的重量和外观规格，尽管功率要求足够低，可以使用标准摄像机电池提供超过 4 小时的连续运行。
This study explores the feasibility of a hybrid system of exoskeletal bracing and multichannel functional electrical stimulation (FES) to facilitate standing, walking, and stair climbing after spinal cord injury (SCI). The orthotic components consist of electromechanical joints that lock and unlock automatically to provide upright stability and free movement powered by FES. Preliminary results from a prototype device oil nondisabled and SCI volunteers are presented. A novel variable coupling hip-reciprocating mechanism either acts as a standard reciprocating gait orthosis or allows each hip to independently lock or rotate freely. Rotary actuators at each hip are configured in a closed hydraulic circuit and regulated by a finite state postural controller based oil real-time sensor information. The knee mechanism locks during stance to prevent collapse and unlocks during swing, while the ankle is constrained to move in the sagittal plane under FES-only control. The trunk is fixed in a rigid corset, and new ankle and trunk mechanisms are under development. Because the exoskeletal control mechanisms were built from off-the-shelf components, weight and cosmesis specifications for clinical use have not been met, although the power requirements are low enough to provide more than 4 hours of continuous operation with standard camcorder batteries.