Mobile Exoskeleton For Spinal Cord Injury: Development And Testing
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2(2012)
摘要
For those who have lost the ability to walk due to paralysis or other injuries, eLEGS, a mobile robotic exoskeleton, offers the chance to walk again. The device is a mobile exoskeleton with actuated sagittal plane hip and knee joints which supports the user and moves their legs through a natural gait. The device uses a multi-leveled controller that consists of a state machine to determine the user's intended motion, a trajectory generator to establish desired joint behavior and a low level controller to calculate individual joint controller output. The system can be controlled by a physical therapist or can be controlled by the user Subject testing results are presented from a seven subject pilot study including patients with complete and incomplete injuries. The testing resulted in six of the seven subjects walking unassisted using forearm crutches after a single two hour testing session.
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