Mechanisms for actuated assistive hip orthoses

Olivier, Jeremy; Ortlieb, A.; Bouri, Mohamed; Bleuler, Hannes

doi:10.1016/j.robot.2014.10.002

Cited by 13 publications

(5 citation statements)

References 28 publications

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“…This also makes it possible to mechanically “disconnect” the joint from the motor and get transparency, when the clutch is off. A similar system was presented in [ 299 ], but using a dual conventional clutch able to apply torque in both directions. In [ 300 ], the supply pressure of the pneumatic actuators is calculated so as to achieve a desired compliance (or equivalently, stiffness).…”

Section: Assistive Strategiesmentioning

confidence: 99%

Review of control strategies for lower-limb exoskeletons to assist gait

Baud

Manzoori

Ijspeert

et al. 2021

J NeuroEngineering Rehabil

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164

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Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Methods In addition to covering the recent publications on the control of lower-limb exoskeletons for gait assistance, an effort has been made to review the controllers independently of the hardware and implementation aspects. The common 3-level structure (high, middle, and low levels) is first used to separate the continuous behavior (mid-level) from the implementation of position/torque control (low-level) and the detection of the terrain or user’s intention (high-level). Within these levels, different approaches (functional units) have been identified and combined to describe each considered controller. Results 291 references have been considered and sorted by the proposed classification. The methods identified in the high-level are manual user input, brain interfaces, or automatic mode detection based on the terrain or user’s movements. In the mid-level, the synchronization is most often based on manual triggers by the user, discrete events (followed by state machines or time-based progression), or continuous estimations using state variables. The desired action is determined based on position/torque profiles, model-based calculations, or other custom functions of the sensory signals. In the low-level, position or torque controllers are used to carry out the desired actions. In addition to a more detailed description of these methods, the variants of implementation within each one are also compared and discussed in the paper. Conclusions By listing and comparing the features of the reviewed controllers, this work can help in understanding the numerous techniques found in the literature. The main identified trends are the use of pre-defined trajectories for full-mobilization and event-triggered (or adaptive-frequency-oscillator-synchronized) torque profiles for partial assistance. More recently, advanced methods to adapt the position/torque profiles online and automatically detect terrains or locomotion modes have become more common, but these are largely still limited to laboratory settings. An analysis of the possible underlying reasons of the identified trends is also carried out and opportunities for further studies are discussed.

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Section: Assistive Strategiesmentioning

confidence: 99%

Review of control strategies for lower-limb exoskeletons to assist gait

Baud

Manzoori

Ijspeert

et al. 2021

J NeuroEngineering Rehabil

Self Cite

164

View full text Add to dashboard Cite

show abstract

“…Such a movement configuration can be referred to as isotropic configuration. To describe and evaluate assistive isotropy, an index d a is defined as: (13) where l vlp and l vsp correspond to the lengths of the long and short principal axes of the velocity ellipse, respectively.…”

Section: Velocity and Force Transfer Performance Indices 321 Motiomentioning

confidence: 99%

“…A Bowden cable actuation unit was customized for a powered hip exoskeleton (PH-EXOS) 12 to achieve advantages of structure simplicity, light weight and flexible driving. Olivier et al 13 proposed an assistive motorized hip orthosis (AMPO) for assisting the movements of hip joint in the sagittal plane, and 5 passive DOFs were added to minimize the undesired human-robot interactional loads, thereby improving p-HRI performance. In addition to serial mechanisms, parallel mechanisms consisting of one fixed platform, one mobile platform and several parallel connective branches were also used for hip motion assistance.…”

Section: Introductionmentioning

confidence: 99%

Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism

Zhang

Dong

et al. 2020

Robotica

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SUMMARYAgainst the backdrop of accelerated ageing around the globe, an increasing number of individuals suffer from hip motion disability and gait disorders. In this paper, the performance analysis of a novel parallel assistive mechanism with 2 DOF for hip adduction/abduction (AB/AD) and flexion/extension (FL/EX) assistance is completed and evaluated, particularly the velocity and force transfer features. The analysis shows that the assistive mechanism has advantages of fine motion assistive isotropy, high force transfer ratio and large force isotropic radius, which indicates that the parallel assistive mechanism is suitable for hip AB/AD and FL/EX assistance.

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“…8 Some of these orthoses could control the knee joint angle by activating an actuator in the hip joint and through a mechanical mechanism. 9 Generally, while using these orthoses, a device such as a crutch or a walker is required to maintain balance in the STS and walking; also, such equipment may not be fully integrated with the STS and walking process.…”

Section: Introductionmentioning

confidence: 99%

Improving sit-to-stand transition by the saddle-assistive device in the spinal cord injury: A case study

Najafabadi

Amini

Farahmand

2021

Proc Inst Mech Eng H

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Physical problems caused by fractures, aging, stroke, and accidents can reduce foot power; these, in the long term, can dwindle the muscles of the waist, thighs, and legs. These conditions provide the basis for the invalidism of the harmed people. In this study, a saddle-walker was designed and evaluated to help people suffering from spinal cord injury and patients with lower limb weakness. This S-AD works based on body weight support against the previously report designs. This saddle-walker consisted of a non-powered four-wheel walker helping to walk and a powered mechanism for the sit-to-stand (STS) transfer. A set of experiments were done on the STS in the use of the standard walker and the saddle-assistive device(S-AD). A comparison of the results showed that this device could reduce the vertical ground reaction force (GRF) of the legs up to 70%. Using this device could help a wide range of patients with lower limb weakness and SCI patients in changing from sitting to standing.

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Mechanisms for actuated assistive hip orthoses

Cited by 13 publications

References 28 publications

Review of control strategies for lower-limb exoskeletons to assist gait

Review of control strategies for lower-limb exoskeletons to assist gait

Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism

Improving sit-to-stand transition by the saddle-assistive device in the spinal cord injury: A case study

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