Biologically based design of an actuator system for a knee-ankle-foot orthosis

被引：59

作者：

Cullell, A. ^{[1
]}

Moreno, J. C. ^{[1
]}

Rocon, E. ^{[1
]}

Forner-Cordero, A. ^{[1
]}

Pons, J. L. ^{[1
]}

机构：

[1] CSIC, Inst Automat Ind, Madrid, Spain

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 04期

关键词：

Actuator; Biomechanics; Human gait; Knee-ankle-foot orthosis; Rehabilitation; Wearable robot; GAIT;

D O I：

10.1016/j.mechmachtheory.2008.04.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Knee-ankle-foot orthosis are systems used to restore human gait, providing stability during stance phase. A concept of actuator for knee-ankle-foot orthosis was developed based on biomechanical data. The actuator is conceived to provide mechanical means to reproduce the normal kinematics during human gait at joint level. Behaviour of the joints of the lower limb was approximated by elastic means and an actuator for each joint was designed and constructed. The rationale of the design process is presented, considering the functional aspects and aiming at a lightweight solution with low power demand. Tests performed with one patient suffering from post-poliomyelitis syndrome are presented and evidence of functional compensation during stance and swing phases with the proposed solution is given. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：860 / 872

页数：13

共 19 条

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