HIP-KNEE control for gait assistance with Powered Knee Orthosis

Lai, Wai-Yin; Ma, Hao; Liao, Wei-Hsin; Fong, Daniel Tik-Pui; Chan, Kai‐Ming

doi:10.1109/robio.2013.6739554

Cited by 10 publications

(8 citation statements)

References 8 publications

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“…Active Knee Orthoses are generally actuated by (i) pneumatic muscles [10], (ii) electro-rheological fluids [11], or (iii) electric motors [12]- [14]. While pneumatic actuators have demonstrated the ability to assist the limb in a safe, compliant, and reliable way, the complexity and non-portability of pneumatic systems limits their practical usability, given their reliance on external air sources.…”

Section: A Active Knee Orthosesmentioning

confidence: 99%

A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees

Sanz-Morère

Fantozzi

Parri

et al. 2019

IEEE Trans. Med. Robot. Bionics

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As a consequence of limb loss, trans-femoral amputees exert 60% additional knee extension torque and 50% more plantar flexion torque in the healthy limb compared to nonamputees. In this paper, we developed an active knee-ankle-foot orthosis (KAFO) designed to assist the healthy leg of transfemoral amputees in activities of daily living, such as walking, ascending/descending stairs, and transitioning from sit-to-stand with adequate range of motion, speed, and peak torque. Our KAFO was designed to exceed the performance of similar assistive devices reported in literature in terms of: 1) portability; 2) power; 3) compliance; and 4) versatility. It is based on onedegree-of-freedom active series-elastic actuators in both the knee and ankle, with an additional passive degree of freedom at the ankle level to allow natural inversion/eversion. The knee module consists of a worm-gear surrounded by two pre-compressed springs. The ankle actuator relies on a mechanically adjustable compliance system combined with a 4-bar linkage transmission. The actuators were designed to optimize the torque output at the joints while fulfilling low-power requirements. This novel KAFO is controlled with a three-layer structure. The optimized low level, based on a closed-loop torque controller, has adequate performances for the targeted application. The device is also shown to fulfill the three pre-defined functional requirements for all locomotion modes.

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Section: A Active Knee Orthosesmentioning

confidence: 99%

A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees

Sanz-Morère

Fantozzi

Parri

et al. 2019

IEEE Trans. Med. Robot. Bionics

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“…When placed on the limbs (e.g., foot, shank, tight, and joint), kinematic analysis using the information collected can be performed to recognize gait phases and events, as well as to obtain general gait parameters (e.g., position, step detection, and stride length) and movement information of the user segment (e.g., type of movement, physical activity level, and fall detection) [5], [16]. Furthermore, inertial measurements can be used in advanced control algorithms to assist the knee joint, specially the angular position [9], [12], [13], [15], [17].…”

Section: ) Inertial Measurement Unitmentioning

confidence: 99%

Powered knee orthosis for human gait rehabilitation: First advances

Félix

Figueiredo

Santos

et al. 2017

2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG)

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This paper presents a new system for a powered knee orthosis, that was designed to assist and improve the gait function of patients with gait pathologies. The system contains the orthotic device (embedded with sensors for angle and userorthosis interaction torque measurements, and an electric actuator) and wearable sensors (inertial measurement unit, force sensitive resistors, and electromyography sensors), which allows the generation of smart rehabilitation tools and several motion assistive techniques. The main goal is to present a conceptual overview and functional description of the system and use scenarios of each component. The attachment mechanism of the orthosis to the limb is also highlighted, being composed of a straps system fixed in the mechanical links of the joint. It was noticed that users with distinct lower-limb morphologies can presents difficulties wearing the orthosis, since the device needs constant adjust to align the mechanical and human joints. The system was validated in ground-level walking on healthy subjects, with emphasis on the impact of the device in the user. The subjects reported that the orthosis is comfortable to use, easy to wear, and no issues were raised regarding the aesthetics of the device. Only the weight was assimilated as a possible hindrance (compensated in the future). Future challenges involve the inclusion of an ankle joint in the system and the use of the proposed tool in rehabilitation.

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“…21 To measure GRF and also to identify the actual gait phase, both force sensors 22 and heel strike sensors can be used. 23,24 Interface forces, that is, forces between the orthotic device and the user, can be employed to control the system and also to evaluate comfort and control quality. Single axis forces can be measured between braces and human limbs, 25,26 but pressure between orthotic device and user can be assessed as well.…”

Section: Introductionmentioning

confidence: 99%

“…21 To measure GRF and also to identify the actual gait phase, both force sensors 22 and heel strike sensors can be used. 23,24…”

Section: Introductionmentioning

confidence: 99%

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Knee-ankle-foot orthosis with powered knee for support in the elderly

Pott

Wolf

Block

et al. 2017

Proc Inst Mech Eng H

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A prototype of a powered knee orthotic device was developed to determine whether fractional external torque and power support to the knee relieves the biomechanical loads and reduces the muscular demand for a subject performing sit-to-stand movements. With this demonstrator, consisting of the subsystems actuation, kinematics, sensors, and control, all relevant sensor data can be acquired and full control is maintained over actuator parameters. A series-elastic actuator based on a direct current motor provides up to 30 Nm torque to the knee via a hinge joint with an additional sliding degree of freedom. For reasons of feasibility under everyday conditions, user intention is monitored by employing a noninvasive, nonsticking muscle activity sensor to replace electromyographic sensors, which require skin preparation. Furthermore, foot plates with force sensors have been developed and included to derive ground reaction forces. The actual knee torque needed to provide the desired support is based on an inverse dynamics model using ground reaction forces signals and leg kinematics. A control algorithm including disturbance feed forward has been implemented. A demonstration experiment with two subjects showed that 23 % of moment support in fact leads to a similar reduction in activation of the main knee extensor muscle.

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HIP-KNEE control for gait assistance with Powered Knee Orthosis

Cited by 10 publications

References 8 publications

A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees

A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees

Powered knee orthosis for human gait rehabilitation: First advances

Knee-ankle-foot orthosis with powered knee for support in the elderly

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