Passive swing assistive exoskeletons for motor-incomplete spinal cord injury patients

被引：5
|
作者：
Mankala, Kalyan K. [1 ]
Banala, Sai K. [1 ]
Agrawal, Sunil K. [1 ]
机构：
[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.364055
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a passive device for swing assistance of motor-incomplete spinal cord injury patients. This device is aimed at reducing the physical demands on the therapists during treadmill training. We model the human leg as two links and a point foot mass, with a moving trunk. We employ passive elements in the design which get charged by the treadmill. Using the system dynamics, we optimize the design parameters to obtain a feasible swing motion of the leg. An exoskeleton was constructed based on these design parameters and tests were performed on a healthy subject at different treadmill speeds.
引用
收藏
页码：3761 / +
页数：2
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