SBIR Phase I: Compliant Nonlinear Quasi-Passive Orthotic Joint

该项目旨在开发一种矫形膝关节系统，该系统包括一个非线性扭转弹簧，以及一个名为形态转换（MorS）的新概念，该概念可以根据用户行为改变关节的机械特性。本研究的目的是对形态转换矫形关节（MSOJ）组件的内侧进行原型和功能测试。任务包括：a)制造和测试所有连接部件的原型；b)机械集成所有原型关节部件，并使用控制算法对MSOJ进行功能测试；c)对MSOJ进行测试，以评估其功能效益。遥测数据将在慢速、中速和快速行走200步和下200级楼梯时收集，并通过评估生物力学效益的程序进行处理。我们希望这些结果能够提供令人信服的定量证据，证明MSOJ能够创造出一种节能的膝关节支架。拟议项目的智力价值源于MorS应用于系统中的弹簧，这显然是被动的，并允许用户将弹簧视为具有动态刚度的弹簧，其行为取决于用户的操作。该项目的广泛影响/商业潜力源于其对全球1.5亿轻度/中度行走功能障碍患者的影响，目前任何现有的矫形器都无法解决这些患者的问题。MSOJ为这一人群提供了新的生物力学益处，包括适应用户提供的任何腿部力量，适应用户选择的速度和步长，减少行走所需的努力，在上下楼梯时提供完整的躯干支撑，防止因腿部力量不足导致膝盖塌陷而摔倒。介绍的新技术包括设计非线性硬化弹簧的综合方法，不需要电池能量产生保持力的执行器，测量步态参数的传感器和分布式容错电子结构。使用MOSJ创建的矫形器将是第一个存储所有传感器数据并支持实时和/或后台访问数据的辅助设备。这些关节预计将允许在所有日常生活活动的远程环境中提供和监测康复治疗。MOSJ组件也将提供给研究人员，以便为他们的康复研究制造定制设备。

This project seeks to develop an orthotic knee joint system that includes a non-linear torsion spring coupled with a novel concept called Morphological Switching (MorS) that changes the mechanical properties of the joint in response to user behavior. The research objectives are to prototype and functionally test the medial side of a Morphological Switched Orthotic Joint (MSOJ) assembly. Tasks include: a) fabricate and test prototypes of all joint components; b) mechanically integrated all prototype joint components and functionally test the MSOJ with control algorithms; and c) the MSOJ will be tested to assess functional benefits. Telemetry data will be collected during 200 steps at slow, medium and fast walking speeds and descending 200 stairs and be processed with a program that assesses biomechanical benefits. We expect the results to provide convincing quantitative proof of the ability of the MSOJ to create an energy efficient knee brace. The intellectual merit of the proposed project stems from the application of MorS to take the springs in the system, which are clearly passive, and allow the user to perceives the springs as having a dynamic stiffness whose behavior changes dependent on what the user does. The broader impact / commercial potential of this project stems from its impact on the estimated worldwide population of 150 million people who have mild/moderate walking dysfunction not currently addressed by any existing orthosis device. MSOJ offers new biomechanical benefits to this population group including adapting to whatever leg strength the user provides, adapting to the user selected speed and step length, reducing the effort needed to walk, providing complete torso support while ascending and descending stairs and preventing falls due to knee collapse resulting from insufficient leg strength. Novel technologies introduced include a synthesis methodology for designing non-linear hardening spring, actuators that need no battery energy to generate holding forces, sensors for measuring gait parameters and a distributed fault tolerant electronics architecture. The orthoses created with MOSJ would be the first assistive appliance that stores all sensor data and enables real time and/or background access of the data. These joints are expected to allow rehabilitation therapy to be delivered and monitored in remote settings during all Activities of Daily Living. MOSJ components will also be made available to researchers to allow fabrication of custom appliances for their rehabilitation research.