A Ball-Screw Driven Motorized Hip Orthosis

In this paper we present a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the hip joint rotations were studied from the literature to define precise design specifications. In order to fit with these requirements, an amplification mechanism inspired by excavators was developed and implemented. Our prototype’s workspace is therefore sufficient for most common activities. The paper also presents a theoretical model of the motorized orthosis which illustrates the device capabilities. Additional tests with the prototype showed that excellent transparency can be achieved with the device, in particular when using an extra sensor to detect small position variations. The assistance capabilities are limited at higher frequencies but can typically go up to 30% for a 70 kg subject during walking at a cadence of 100 steps/min.

[1]  Kyoungchul Kong,et al.  Design and control of an exoskeleton for the elderly and patients , 2006, IEEE/ASME Transactions on Mechatronics.

[2]  M. Bouri,et al.  Improvement of rehabilitation possibilities with the MotionMaker TM , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[3]  Yuichi Kimura,et al.  Effects of a robotic walking exercise on walking performance in community‐dwelling elderly adults , 2009, Geriatrics & gerontology international.

[4]  Aurelio Cappozzo,et al.  Gait analysis methodology , 1984 .

[5]  M. Pandy,et al.  Dynamic optimization of human walking. , 2001, Journal of biomechanical engineering.

[6]  Guillaume Morel,et al.  A methodology to design kinematics of fixations between an orthosis and a human member , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[7]  F. Reynard,et al.  The WalkTrainer—A New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation , 2009, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[8]  M. Morari,et al.  Robotic Orthosis Lokomat: A Rehabilitation and Research Tool , 2003, Neuromodulation : journal of the International Neuromodulation Society.

[9]  Reymond Clavel,et al.  The WalkTrainer: A Robotic System for Walking Rehabilitation , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[10]  Joel E. Cohen,et al.  Human Population: The Next Half Century , 2003, Science.

[11]  J. Mizrahi,et al.  Joint torques during sit-to-stand in healthy subjects and people with Parkinson's disease. , 2003, Clinical biomechanics.

[12]  G. Andersson,et al.  Normal range of motion of the hip, knee and ankle joints in male subjects, 30-40 years of age. , 1982, Acta orthopaedica Scandinavica.

[13]  M. Goldfarb,et al.  Preliminary Evaluation of a Powered Lower Limb Orthosis to Aid Walking in Paraplegic Individuals , 2011, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[14]  Marco Cempini,et al.  Self-Alignment Mechanisms for Assistive Wearable Robots: A Kinetostatic Compatibility Method , 2013, IEEE Transactions on Robotics.

[15]  Hannes Bleuler,et al.  A Double-differential Actuation for an Assistive Hip Orthosis - Specificities and Implementation , 2016, NEUROTECHNIX.

[16]  J. Koval,et al.  Longitudinal Study of Determinants of Dependence in an Elderly Population , 2004, Journal of the American Geriatrics Society.

[17]  Martin Buss,et al.  Compliant actuation of rehabilitation robots , 2008, IEEE Robotics & Automation Magazine.

[18]  D. Winter.  Kinematic and kinetic patterns in human gait: Variability and compensating effects , 1984 .

[19]  Reymond Clavel,et al.  Development of an assistive motorized hip orthosis: Kinematics analysis and mechanical design , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).