SHB: Type I (EXP): Collaborative Research: A Portable Power-Assist Orthosis to Aid Elderly Persons in Locomotion

本计画开发一种可携式的动力辅助矫形器，以解决下肢无力造成行动不便的问题。 该机器人矫形器根据用户的运动意图主动地辅助用户的关节运动，并且因此使用户能够独立地执行某些关键的、耗电的任务（诸如坐到站的运动）。 矫形器采用高性能驱动方法，即化学流体驱动，其将高功率密度气动致动器与高能量密度单推进剂气动供应相结合。 除了新的驱动方法外，矫形器还具有新的结构和用户界面，可实现有效的负载转移和轻松的穿戴-脱下;以及有效的运动控制算法，可根据用户的运动意图实现交互式动力辅助。 便携式动力辅助矫形器可减少使用者对护理人员的依赖，显著提高生活质量，并保持身体活动，避免上述与久坐不动的生活方式相关的问题。该项目对辅助技术具有更广泛的影响，可改善老年人和因下肢无力而行动不便的人的行动能力。该项目有可能减少照顾这些人的大量物质援助，以及照顾的时间和人力成本。该项目的研究通过利用康复机器人技术作为创新的教育媒介被纳入教育活动。

This project develops a portable power-assist orthosis to address the problems of impaired mobility due to lower-extremity weakness. This robotic orthosis actively assists the user's joint motion according to his or her motion intent, and thus enables the user to perform certain critical, power-consuming tasks (such as the sit-to-stand motion) independently. The orthosis is powered with a high-performance actuation approach, namely chemo-fluidic actuation, which combines the high-power-density pneumatic actuators with a high-energy-density monopropellant-based pneumatic supply. In addition to the new actuation approach, the orthosis also features a new structure and user interface for effective load transfer and easy donning-doffing; and an effective motion control algorithm to enable interactive power assist according to the user's motion intent. With the portable power-assist orthosis, the users reduce the reliance on the assistance by caregivers, enjoy a significantly improved life quality, and stay physically active to avoid the aforementioned issues associated with the sedentary life style.This project has broader impact to assistive technologies and can improve mobility of elderly individuals and people suffering from the impaired mobility due to lower-extremity weakness. The project can potentially reduce a considerable amount of physical assistance taking care of these individuals, and the cost of time and manpower in the care. The research of the project is incorporated into education activities by utilizing the rehabilitation robotics as an innovative education medium.