Simulation and design of an active orthosis for an incomplete spinal cord injured subject
The dynamic simulation of incomplete spinal cord injured individuals equipped with active orthoses is a challenging problem due to the redundancy of the simultaneous human-orthosis actuation. The objective of this work is two-fold. Firstly, a physiological static optimization approach to solve the m...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/127813 |
| Acceso en línea: | https://hdl.handle.net/2117/127813 https://dx.doi.org/10.1016/j.piutam.2011.04.007 |
| Access Level: | acceso abierto |
| Palabra clave: | Biomechanics Active orthosis Static optimization Muscle modeling Biomecànica Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica |
| Sumario: | The dynamic simulation of incomplete spinal cord injured individuals equipped with active orthoses is a challenging problem due to the redundancy of the simultaneous human-orthosis actuation. The objective of this work is two-fold. Firstly, a physiological static optimization approach to solve the muscle-orthosis actuation sharing problem is presented. For this purpose, a biomechanical model based on multibody dynamics techniques is used. The muscles are modeled as Hill-type actuators and the atrophy of denervated muscles is considered by adding stiff and dissipative elements. Secondly, the mechanical design of a new active stance-control knee-ankle-foot orthosis (A-SCKAFO) is addressed. The proposed device consists of a passive joint that constrains ankle plantar flexion, along with a powered knee unit that prevents flexion during stance and controls flexion-extension during swing. The knee actuation is selected based on the results obtained through the optimization approach. |
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