Title:
|
A powered lower limb orthosis to assist the gait of incomplete spinal cord injured patients
|
Author:
|
Font Llagunes, Josep Maria; Romero, Francisco; HosseinNia, S.H.; Alonso, Francisco Javier; Vinagre, Blas M.; Lugrís, Urbano
|
Other authors:
|
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica |
Abstract:
|
This paper addresses the mechanical design and control of a
new active stance-control knee-ankle-foot orthosis. The orthosis
is intended to provide gait assistance for incomplete spinal cord
injured patients with functional hip muscles, but partially
denervated knee and ankle muscles. This device consists of a
passive compliant joint that constrains ankle plantar flexion,
along with a powered knee unit that prevents knee flexion
during stance and controls flexion-extension during swing. For
this purpose, the knee joint incorporates a controllable
mechanical locking system and an electrical DC motor. Based
on human walking biomechanics, a hybrid control model is
proposed. This model takes into account the parameters of the
orthosis and the characteristics of the gait cycle, which is
divided in eight different phases. A fractional order controller is
designed following decision based control techniques. |
Subject(s):
|
-Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica -Knee--Fractures -Spinal cord Wounds and injuries -Biomecànica -- Aparell locomotor |
Rights:
|
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
|
Article - Published version Conference Object |
Share:
|
|