期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 4, 页码 1695-1704出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2704521
关键词
Biomechanics; medical robotics; orthotics; torque control
类别
资金
- Materials Research Science and Engineering Centers program of the National Science Foundation at Northwestern University [DMR-1121262]
Individuals with poststroke hemiparesis often exhibit mobility deficits, particularly during tasks requiring high lower limb torques. The sit-to-stand transition is consistently marked by asymmetrical weight-bearing between the paretic and unaffected legs. One way to improve characteristics of stroke sit-to-stand may be to provide assistive knee extension torque with a powered exoskeleton. To perform research on the biomechanical effects of assisting sit-to-stand, a unilateral powered knee exoskeleton is required, which can accurately control torque. This paper introduces a novel series elastic actuator capable of producing the full torques and speeds required for sit-to-stand (80 Nm, 3 rad/s). It utilizes a unique transmission configuration with a series fiberglass beam spring that improves torque-control and reduces output impedance. The actuator is incorporated into a unilateral orthosis and a high-level sit-to-stand controller is implemented. A small validation study with three able-bodied subjects performing sit-to-stand is presented, demonstrating the ability to appropriately provide assistance.
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