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和一种名为形态转换(MORS)的新概念，该概念可以根据用户的行为改变关节的机械性能。研究目标是建立一个形态切换式正畸关节(MSOJ)组件的原型，并对其内侧进行功能测试。任务包括：a)制造和测试所有关节部件的原型；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；以及c)对MSOJ进行测试，以评估功能效益。遥测数据将在200步的慢、中、快步行速度和下行200级楼梯的过程中收集，并通过评估生物力学益处的程序进行处理。我们希望研究结果能够提供令人信服的定量证据，证明MSOJ有能力创造一种节能的膝关节支架。提议的项目的智力优点源于MORS的应用，将系统中的弹簧显然是被动的，并允许用户感知到弹簧具有动态刚度，其行为根据用户的操作而改变。该项目更广泛的影响/商业潜力源于它对全球估计1.5亿人的影响，这些人患有轻/中度行走障碍，目前任何现有的矫形器设备都没有解决这些问题。MSOJ为这一人群提供了新的生物力学好处，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，减少步行所需的努力，在上下楼梯时提供完整的躯干支撑，以及防止因腿部力量不足而导致的膝盖塌陷。引入的新技术包括用于设计非线性硬化弹簧的综合方法、不需要电池能量来产生握力的执行器、用于测量步态参数的传感器和分布式容错电子体系结构。使用MOSJ创建的矫形器将是第一个存储所有传感器数据并能够实时和/或后台访问数据的辅助设备。预计这些关节将允许在日常生活的所有活动期间在偏远环境中提供和监测康复治疗。还将向研究人员提供MOSJ组件，以便为他们的康复研究制造定制的设备。

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.