Adaptive Knee Orthosis with Power Support to assist the Elderly

具有动力支持的自适应膝关节矫形器可帮助老年人

• 批准号: 164569068
• 负责人: Professor Dr.-Ing. Ulrich Konigorski
• 金额: --
• 依托单位: Klinik für Orthopädie und Unfallchirurgie
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2010
• 资助国家: 德国
• 起止时间: 2009-12-31 至 2019-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/164569068?language=en
• 关键词: Adaptive; Knee; Orthosis; Power; Support

The aim of this cooperative research project is to develop scientific knowledge for the development of an adaptive knee orthosis with power support to ease mobility for the elderly. Conventional stationary supports such as rising chairs and stair lifts may become obsolete once an uprising and stair climbing aid is available which is easily applied at the body, comfortable in use and intuitive to operate. The independent recognition of support demand characterizes the adaptive nature of the active orthosis. This kind of mechatronic assistance system could support the elderly in their mobility. Furthermore, therapeutic use is conceivable.In the first phase of research, a serial-elastic actuator (SEA) and special kinematics have been developed to follow the physiological knee motion and test orthoses were built. By means of surface electromyography it was verified that under external power support during the transfer movement, the activation of the knee extensors is reduced accordingly. Hence, the orthosis actually relieves the user when standing up from a sitting position. The autonomous control of the sit-to-stand process is implemented using a model of the user with orthosis and force measurement at the foot-plate of the orthosis as input variable. This allows both, the power and the transparency of the orthosis perceived by the user to be scaled dynamically. For situational awareness, a mechanical muscle activity sensor is designed for use around the thigh. Inertial sensors provide redundant orientation determination of the orthosis and enhance situational awareness in the future.The current demonstrator is still rather large and the system is controlled by a number of external devices, so that a practice-oriented testing is difficult. In the second research phase, bionically inspired distributed string-actuators are developed that allow significant weight and space reduction. Similar to the kinematics and sensors, they will be integrated in the framework of the orthosis as much as possible. This field test demonstrator should then be subject of intensive tests for further scientific issues such as the redistribution of biomechanical loads under motor support at the knee. Possible tripping and falling risks induced by the orthosis are examined. The results will be used in the future as a basis for the development of mobility-enhancing assistance systems.

这个合作研究项目的目的是发展科学知识，开发一种具有动力支持的自适应膝关节矫形器，以减轻老年人的行动能力。传统的固定支撑件，例如上升椅和楼梯升降机，一旦可以获得容易地应用在身体上、使用舒适且操作直观的上升和爬楼梯辅助装置，则可能变得过时。主动式矫形器对支撑需求的独立识别是其适应性的特征。这种机电一体化辅助系统可以支持老年人的行动能力。在第一阶段的研究中，开发了一种串联弹性致动器（SEA）和特殊的运动学来跟踪生理膝关节运动，并建立了测试矫形器。通过表面肌电测试，证实了在转移运动过程中，在外部动力支持下，膝伸肌的激活相应减少。因此，矫形器实际上减轻了使用者从坐姿站起来时的负担。使用具有矫形器的用户的模型和矫形器的脚板处的力测量作为输入变量来实现坐到站过程的自主控制。这允许由用户感知的矫形器的焦度和透明度两者被动态地缩放。对于态势感知，机械肌肉活动传感器被设计用于大腿周围。惯性传感器为矫形器提供了冗余的方位确定，并增强了未来的态势感知能力。目前的演示器仍然相当大，系统由许多外部设备控制，因此很难进行面向实践的测试。在第二个研究阶段，仿生启发分布式串致动器的开发，允许显着的重量和空间减少。与运动学和传感器类似，它们将尽可能地集成在矫形器的框架中。这个现场测试演示器应该进行进一步的科学问题的密集测试，例如在膝盖运动支持下的生物力学负荷的重新分配。检查矫形器可能引起的绊倒和跌倒风险。研究结果将在未来用作开发流动性增强援助系统的基础。