One of the first steps I had to take was under­stan­ding human gait. The arti­cle (biblio­gra­phic infor­ma­tion) descri­bes very ela­bo­rate model­ling tech­ni­ques in order to make a mecha­ni­cal gait ortho­sis walk. I would like to empha­size that th Loko­mat is not inten­ded to make pati­ents walk around, so it’s a dif­fe­rence to the device men­tio­ned in the arti­cle. But the gene­ral mecha­nisms are com­pa­ra­ble, espe­cially using tor­ques to make the pati­ent take a step.

Abstract — The pur­pose of this study was to examine a hybrid ortho­sis sys­tem (HOS) for wal­king after spinal-​​cord injury (SCI) that coor­di­na­tes the mecha­ni­cal locking and unlo­cking of knee and ankle joints of a recipro­ca­ting gait ortho­sis (RGO), while pro­pul­sive forces are injec­ted and unlo­cked joints con­trol­led with func­tio­nal neu­ro­mus­cu­lar sti­mu­la­tion (FNS). The likely effec­tiv­en­ess of the HOS in terms of for­ward pro­gres­sion, sta­bi­lity, and pos­ture of para­ple­gic gait was deter­mined in this simu­la­tion study. A three-​​dimensional com­pu­ter model of a HOS com­bi­ning FNS with an RGO incor­po­ra­ting feed­back con­trol of mus­cle activa­tion and joint locking was deve­l­o­ped. An anthro­po­mor­phic human model inclu­ded pas­sive joint moments and a foot-​​ground con­tact model adap­ted from other stu­dies. A model of the RGO recipro­cally cou­pled the hips and locked and unlo­cked the knee and ankle joints during stance and swing respec­tively. The actions of mus­cles under FNS activa­tion were mode­led via closed-​​loop con­trol of joint tor­que inputs. A wal­king aid that mimi­cked canes and volun­tary upper extre­mity actions main­tai­ned late­ral sta­bi­lity by pro­vi­ding the necessary shoul­der forces and moments. The simu­la­ted HOS achie­ved gait speeds of 0.51/spl plusmn/0.03 m/​s, stride lengths of 0.85/spl plusmn/0.04 m, and caden­ces of 72/​spl plusmn/​4 steps/​min, excee­ding the repor­ted per­for­mance of other assis­tive gait sys­tems. Alt­hough mini­mal for­ward trunk tilt was found to be necessary during spe­ci­fic pha­ses of gait, pos­ture, and sta­bi­lity were signi­fi­cantly impro­ved over FNS-​​only systems.

Ähnli­che Arti­kel /​ Rela­ted posts:

  1. Arti­cle: Learning-​​​​Based Iden­ti­fi­ca­tion and Ite­ra­tive Learning Con­trol of Direct-​​​​Drive Robots
  2. PRESENCE publis­hes Loko­mat article
  3. arti­cle accep­ted for con­fe­rence pro­cee­ding (mmvr15)
  4. Lokomat-​​​​Symposium 2006
  5. Jour­nals for a publi­ca­tion of a rowing simu­la­tion study

Ähnli­che Arti­kel bereit­ge­stellt von Yet Ano­ther Rela­ted Posts Plu­gin.