Modeling and simulation of powered hip orthosis by pneumatic actuators

Kim, Gyoosuk; Kang, Sangmo; Cho, Hyunseok; Ryu, Jeicheong; Mun, Museoung; Kim, Kyunghoon

doi:10.1007/s12555-010-0108-9

Cited by 11 publications

(9 citation statements)

References 12 publications

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“…It may not be feasible for patients to participate in ADL with the Ohta powered hip orthosis, because of the bulky design of the motorized hip actuation mechanism. 5 Audu et al, who designed the variable constraint hip mechanism (VCHM) powered orthosis, produced a low walking speed relative to normal walking when utilizing the device. In addition the orthosis weight was 22 kg and so was very heavy.…”

Section: Discussionmentioning

confidence: 99%

“…Current approaches to the design of powered orthoses have typically focused on the use of pneumatic actuators or DC motors systems directly coupled to the hip joint. 3,5,7,13 Ohta et al, who motorized an advanced reciprocal gait orthosis (ARGO), needed a high electrical power consumption to pull the mechanical cable of the hip joint reciprocal link even during level-ground walking. It may not be feasible for patients to participate in ADL with the Ohta powered hip orthosis, because of the bulky design of the motorized hip actuation mechanism.…”

Section: Discussionmentioning

confidence: 99%

“…4 However, RGOs have since formed the basic structure upon which most powered orthoses are designed today. 3,[5][6][7] The externally-applied force has previously been installed on the mechanical structure or exoskeleton using pneumatic, motorized, electric or hydraulic actuators. The high efficiency, smoothness and fast response of motoractivating actuators makes them more suitable for the application of power to RGO-type devices than other forms of force application.…”

Section: Introductionmentioning

confidence: 99%

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Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Arazpour

Chitsazan²,

Hutchins³

et al. 2012

Prosthetics &Amp; Orthotics International

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Background:The aim of this case study was to identify the effect of a powered hip orthosis on the kinematics and temporal-spatial parameters of walking by a patient with spinal cord injury (SCI). Case Description and Methods: Two orthoses were evaluated while worn by an incomplete SCI subject with a T-8level of injury. Gait evaluation was performed when walking with an Isocentric Reciprocating Gait Orthosis (IRGO) and compared to that demonstrated by a newly powered version of the orthosis; based on the IRGO superstructure but incorporating powered hip joints using an electrically motorized actuator that produced active hip joint extension and flexion. Findings and Outcomes: The powered hip orthosis, when compared to the IRGO, increased the speed of walking, the step length and also the cadence demonstrated by this subject. Vertical and horizontal compensatory motions with new orthosis decreased. Hip angles when walking with this orthosis were comparative to those demonstrated by normal walking patterns. Conclusions: The hip actuator produced positive effects on the kinematics and temporal-spatial parameters of gait during level-ground walking trials, resulting in an alternative approach to walking by SCI patients. Clinical relevanceThis orthosis has the potential to improve hip joint kinematics, the temporal-spatial parameters of gait in SCI patients walking.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Arazpour

Chitsazan²,

Hutchins³

et al. 2012

Prosthetics &Amp; Orthotics International

View full text Add to dashboard Cite

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“…The distinctive properties of the PAM also make it very appealing for the biomedical field. It has been used for human motion rehabilitation devices [36,37]. This is attributed to the PAM compliant behaviour, high force to weight ratio, high contraction ratio as well as its non-linear force vs elongation relationship.…”

Section: The Pneumatic Artificial Musclementioning

confidence: 99%

Development and testing of a passive ankle exoskeleton

Pardoel

Doumit

2019

Biocybernetics and Biomedical Engineering

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Aging is accompanied by a deterioration of physical abilities. For some this limits their mobility and thus their quality of life. Exoskeletons are a class of walking assist device that help reduce the effort required to walk. Currently, powered exoskeletons suffer from short battery life and thus limited usefulness. This thesis presents the design, fabrication, and testing of a novel unpowered ankle exoskeleton to assist normal walking over long distances. The design incorporates a Pneumatic Artificial Muscle (PAM) inflated and used as a passive air spring. To predict the behaviour of the PAM in this distinct application, a distinct dynamic model was developed to include the biaxial stress in the bladder as well as a polytropic gas assumption. Experimental testing was used to validate the model and indicated that the addition of the bladder stress enhanced the performance of the force prediction at low pressure but had negligible impact on the model at higher pressures. The experimental testing also showed that the temperature of the gas inside the PAM varies very slightly during passive elongation cycles, thus, validating an isothermal assumption. Once fabricated, the exoskeleton was tested in human walking trials. I would also like to thank Laurent Levesque as well as my other lab mates for sharing their knowledge and helping to address unexpected problems as they arose.

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“…Sung Jae Kang and colleagues more recently developed a new powered orthosis using pneumatic actuators. 16,19…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a novel powered gait orthosis for walking by a spinal cord injury patient

Arazpour

Chitsazan

Hutchins

et al. 2012

Prosthetics &Amp; Orthotics International

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Background: The aim of this case study was to analyze the effect on gait parameters of a new design of powered gait orthosis which applied synchronized motions to both the hip and knee joints when utilized for walking by a spinal cord injury (SCI) patient.Case Description and Methods: Two orthoses were evaluated while worn by an incomplete SCI subject. Gait evaluation was performed when walking with an isocentric reciprocating gait orthosis (IRGO) and compared to that demonstrated by a newly developed powered version. This new orthosis was based on the IRGO superstructure but incorporated powered hip and knee joints using electrically motorized actuators.Findings and Outcomes: These gait parameters were improved when compared to standard IRGO and initial testing with the orthosis with only the hip or the knee joints activated in isolation. Maximum hip flexion and extension angles, as well as the maximum knee flexion and extension angles all increased when walking with the powered RGO compared to the IRGO.Conclusions: Gait evaluation of this newly developed orthosis showed improvement in measured parameters when compared to walking with an IRGO.Clinical relevanceThis case study gave the authors confidence to extend the research to a more extensive study with a group of SCI patients.

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Modeling and simulation of powered hip orthosis by pneumatic actuators

Cited by 11 publications

References 12 publications

Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Evaluation of a novel powered hip orthosis for walking by a spinal cord injury patient

Development and testing of a passive ankle exoskeleton

Evaluation of a novel powered gait orthosis for walking by a spinal cord injury patient

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