Powered Orthosis Ortholeg: Design and Development

Araújo, Márcio Valério de; Alsina, Pablo Javier; Roza, Valber Cesar Cavalcanti; Melo, Nicholas B.

doi:10.1109/tla.2015.7040633

Cited by 12 publications

(6 citation statements)

References 20 publications

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“…Electronic driver circuits control the current to control the torque. A use of DC motors as the major actuator in the robots can be found in (Zeilig et al, 2012;Esquenazi et al, 2012;Kong and Jeon, 2006;Colombo et al, 2000;Bernhardt et al, 2005;Araujo et al, 2015;Gloger et al, 2015;Mori et al, 2006;Marcheschi et al, 2011;Chen et al, 2017;2019).…”

Section: Motormentioning

confidence: 99%

“…For the user's intention sensing, different types of switches can be used, including reed switch, pillow switch, mercury switches. Pillow switch is handy for detecting the interaction between the user and the exoskeleton robot as discussed in (Neuhaus et al, 2011;Wang et al, 2013;Strickland, 2019;Sanz-Merodio et al, 2012;Munawar et al, 2015;Araujo et al, 2015;Gloger et al, 2015;Asbeck et al, 2013).…”

Section: Different Forms Of the Switchmentioning

confidence: 99%

See 1 more Smart Citation

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Hasan¹,

Dhingra²

2020

Journal of Mechatronics and Robotics

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The World Health Organization reports that about 1 billion people worldwide have some form of disability. Of these, 110-190 million people have significant difficulties in functioning. Providing rehabilitation services to a large number of disabled people with limited resources is quite challenging. Robot-based neurorehabilitation is an appealing solution for providing rehabilitation services without the downside of provider fatigue. Despite the importance of robot-based rehabilitation, a limited number of resources are readily available related to the technical challenges that need to be addressed in designing human lower extremity rehabilitation robots? This paper tries to fill up the technical gaps by explaining lower extremity anatomy, probable causes of lower extremity disability, rehabilitation protocols and fundamental safety and ergonomic features that need to be considered during the design/selection of an exoskeleton robot. A comprehensive review of the state-of-the-art sensing and actuation technologies involved in human lower extremity exoskeleton robots is also presented to familiarize the reader with current technologies. It is hoped that a comprehensive coverage of all relevant anatomical, anthropometric, actuation and sensing aspects of lower extremity exoskeleton robots will help the designer come up with the best possible solution for a specific application.

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Section: Motormentioning

confidence: 99%

Section: Different Forms Of the Switchmentioning

confidence: 99%

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Hasan¹,

Dhingra²

2020

Journal of Mechatronics and Robotics

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“…The performance of each different gait trajectory used (the average one and the one generated by the proposed method) was analysed according to two factors: user metabolic effort and motor consumption, due to the ergonomic characteristics desired for daily use of an active orthosis. 1,4 The metabolic effort is related to the amount of physical stress that the user experiences while wearing the orthosis. Low values of metabolic effort mean a more natural and comfortable walking experience.…”

Section: Performance Analysismentioning

confidence: 99%

“…Examples of these devices are eLEGS, 2 ReWalk (Argo Medical Technologies c ), 3 and Ortholeg. 4 One of the most important features for a powered orthosis used in assistive technology is the ability to recreate or assist the natural movement of human limbs. In the case of an active orthosis designed for paraplegic users, this is usually performed using joint angle position control through motors attached to the orthosis joints, which follow a given trajectory, creating the leg movement.…”

Section: Introductionmentioning

confidence: 99%

Joint trajectory generator for powered orthosis based on gait modelling using PCA and FFT

Melo¹,

Dórea²,

Alsina³

et al. 2017

Robotica

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SUMMARYIn this work, we propose a method able to find user-oriented gait trajectories that can be used in powered lower limb orthosis applications. Most research related to active orthotic devices focuses on solving hardware issues. However, the problem of generating a set of joint trajectories that are user-oriented still persists. The proposed method uses principal component analysis to extract shared features from a gait dataset, taking into consideration gait-related variables such as joint angle information and the user's anthropometric features, used directly in an orthosis application. The trajectories of joint angles used by the model are represented by a given number of harmonics according to their respective Fourier series analyses. This representation allows better performance of the model, whose capability to generate gait information is validated through experiments using a real active orthotic device, analysing both joint motor energy consumption and user metabolic effort.

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“…After short description of old design of Ortholeg [1][2], follows informative chapter with summary of materials which were considered in our design, in order to get general idea regarding material selection and design concepts, manufactured exoskeletons were studied [3][4][5][6][7][8]. Lightweight structure of orthosis requires materials such as plastics, aluminium alloys or carbon fibres composites.…”

mentioning

confidence: 99%

Ortholeg 2.0 - a new design for a lower limb active orthosis

Gloger

Alsina

Melo

2015

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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This work describes mechanical design of a new active orthosis for lower limbs, called Ortholeg 2.0. New structure aims to be lighter than the original Ortholeg, in order to improve the user comfort, while increasing the ergonomic value. Durable but lightweight materials were chosen in order to ensure the safety during actions, such as walking, standing up, sitting. The embedded electronics will remain the same, as well as the actuators due to economic reasons. Sensory subsystem is not considered in this stage of the project but design includes possibility for future implementation of such components.

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Powered Orthosis Ortholeg: Design and Development

Cited by 12 publications

References 20 publications

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Joint trajectory generator for powered orthosis based on gait modelling using PCA and FFT

Ortholeg 2.0 - a new design for a lower limb active orthosis

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