Active lower limb orthosis with one degree of freedom for people with paraplegia

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F17%3A10237753" target="_blank" >RIV/61989100:27230/17:10237753 - isvavai.cz</a>

Result on the web

<a href="http://ieeexplore.ieee.org/document/8009256/" target="_blank" >http://ieeexplore.ieee.org/document/8009256/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICORR.2017.8009256" target="_blank" >10.1109/ICORR.2017.8009256</a>

Result language

angličtina

Original language name

Active lower limb orthosis with one degree of freedom for people with paraplegia

Original language description

The main challenges of designing devices for paraplegic walking can be summarized into three groups, stability and comfort, high efficiency or low energy consumption, dimensions and weight. A new economical device for people with paraplegia which tackles all problems of the three groups is introduced in this paper. The main idea of this device is based on HALO mechanism. HALO is compact passive medial hip joint orthosis with contralateral hip and ankle linkage, which keeps the feet always parallel to the ground and assists swinging the leg. The medial hip joint is equipped with one actuator in the new design and the new orthosis is called @halo. Due to this update, we can achieve more stable and smoother walking patterns with decreased energy consumption of the users, yet maintain its compact and lightweight features. It is proven by the results from preliminary experiments with able-bodied subjects during which the same device with and without actuator was evaluated. Waddling and excessive vertical elevation of the center of gravity were decreased by 40% with significantly smaller standard deviations in case of the active orthosis. There was 52% less energy spent by the user wearing @halo which was calculated from the vertical excursion difference. There was measured 38.5% bigger impulse in crutches while using passive orthosis. The new @halo device is the first active orthosis for lower limbs with just one actuated degree of freedom for users with paraplegia.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

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Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IEEE International Conference on Rehabilitation Robotics

ISBN

978-1-5386-2296-4

ISSN

1945-7898

e-ISSN

neuvedeno

Number of pages

6

Pages from-to

258-263

Publisher name

IEEE Computer Society

Place of publication

Los Alamitos

Event location

Londýn

Event date

Jul 17, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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