An intrinsically compliant robotic orthosis for treadmill training
A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive...
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| Published in | Medical engineering & physics Vol. 34; no. 10; pp. 1448 - 1453 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Kidlington
Elsevier Ltd
01.12.2012
Elsevier |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1350-4533 1873-4030 1873-4030 |
| DOI | 10.1016/j.medengphy.2012.02.003 |
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| Abstract | A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training. |
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| AbstractList | A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training. Abstract A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training. A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training.A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training. |
| Author | Jamwal, Prashant K. Xie, Sheng Quan Hussain, Shahid Parsons, John |
| Author_xml | – sequence: 1 givenname: Shahid surname: Hussain fullname: Hussain, Shahid email: shus045@aucklanduni.ac.nz organization: Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand – sequence: 2 givenname: Sheng Quan surname: Xie fullname: Xie, Sheng Quan organization: Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand – sequence: 3 givenname: Prashant K. surname: Jamwal fullname: Jamwal, Prashant K. organization: Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand – sequence: 4 givenname: John surname: Parsons fullname: Parsons, John organization: School of Nursing, The University of Auckland, Auckland, New Zealand |
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| Cites_doi | 10.1038/sj.sc.3101518 10.1016/j.medengphy.2010.12.010 10.1109/TNSRE.2010.2047116 10.1109/TNSRE.2007.903903 10.1523/JNEUROSCI.2266-06.2006 10.1109/MRA.2008.927689 10.1109/TNSRE.2008.2008280 10.1109/TRO.2009.2019781 10.1161/01.STR.0000254607.48765.cb 10.1109/TBME.2007.901024 10.1109/70.481753 10.1016/j.gaitpost.2005.05.004 10.1109/TCST.2005.847333 10.1016/j.gaitpost.2010.11.016 10.1109/70.781963 10.1109/TNSRE.2005.848628 10.1177/0278364906063829 10.1109/TNSRE.2007.903919 10.1114/1.1554921 10.1109/TNSRE.2007.903922 10.1109/TNSRE.2007.903926 10.1109/TRO.2005.861481 |
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| Keywords | Gait rehabilitation Compliance Treadmill training Pneumatic muscle actuators Robotic orthosis Gait Orthosis Orthopedic treatment Robotics Moving way Muscle Actuator Biomedical engineering |
| Language | English |
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| Snippet | A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired... Abstract A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically... |
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| SubjectTerms | Applied sciences Biological and medical sciences Compliance Computer science; control theory; systems Control theory. Systems Diseases of the osteoarticular system. Orthopedic treatment Elasticity Electrical Equipment and Supplies Equipment Design Exact sciences and technology Feasibility Studies Feedback Foot Fundamental and applied biological sciences. Psychology Gait - physiology Gait rehabilitation Humans Mechanical Phenomena Medical sciences Muscle, Skeletal - physiology Nervous System Diseases - physiopathology Nervous System Diseases - rehabilitation Orthotic Devices Pneumatic muscle actuators Radiology Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects) Rehabilitation - instrumentation Robotic orthosis Robotics Robotics - instrumentation Treadmill training Vertebrates: body movement. Posture. Locomotion. Flight. Swimming. Physical exercise. Rest. Sports |
| Title | An intrinsically compliant robotic orthosis for treadmill training |
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