Knee-ankle-foot orthosis with powered knee for support in the elderly

A prototype of a powered knee orthotic device was developed to determine whether fractional external torque and power support to the knee relieves the biomechanical loads and reduces the muscular demand for a subject performing sit-to-stand movements. With this demonstrator, consisting of the subsystems actuation, kinematics, sensors, and control, all relevant sensor data can be acquired and full control is maintained over actuator parameters. A series-elastic actuator based on a direct current motor provides up to 30 Nm torque to the knee via a hinge joint with an additional sliding degree of freedom. For reasons of feasibility under everyday conditions, user intention is monitored by employing a noninvasive, nonsticking muscle activity sensor to replace electromyographic sensors, which require skin preparation. Furthermore, foot plates with force sensors have been developed and included to derive ground reaction forces. The actual knee torque needed to provide the desired support is based on an inverse dynamics model using ground reaction forces signals and leg kinematics. A control algorithm including disturbance feed forward has been implemented. A demonstration experiment with two subjects showed that 23 % of moment support in fact leads to a similar reduction in activation of the main knee extensor muscle.

[1]  Roland Werthschützky,et al.  Novel approach for estimating muscular activity using mechanical effects of the human thigh as an alternative to EMG , 2012 .

[2]  Wei-Hsin Liao,et al.  HIP-KNEE control for gait assistance with Powered Knee Orthosis , 2013, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[3]  G. Khang,et al.  EMG-based Neural Networks for Muscle Torque Estimation , 2006 .

[4]  Yoshiyuki Sankai,et al.  Leading Edge of Cybernics: Robot Suit HAL , 2006, 2006 SICE-ICASE International Joint Conference.

[5]  Jun Morimoto,et al.  XoR: Hybrid drive exoskeleton robot that can balance , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  H. Hermens,et al.  European recommendations for surface electromyography: Results of the SENIAM Project , 1999 .

[7]  N. Alaraje,et al.  Design of a pneumatically powered wearable exoskeleton with biomimetic support and actuation , 2013, 2013 IEEE Aerospace Conference.

[8]  Zhiyong Yang,et al.  Impedance Control of Exoskeleton Suit Based on Adaptive RBF Neural Network , 2009, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics.

[9]  Markus Grün.  Regelungstechnische Aspekte bei aktiven Knieorthesen zur Mobilitätsunterstützung älterer Menschen , 2015 .

[10]  Yu Fang,et al.  WPAL for human power assist during walking using dynamic equation , 2009, 2009 International Conference on Mechatronics and Automation.

[11]  Ying Zhang,et al.  Development of a lower extremity exoskeleton suit actuated by hydraulic , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[12]  R. Mann,et al.  A comparison of lower-extremity skeletal kinematics measured using skin- and pin-mounted markers , 1997 .

[13]  M. Nietert,et al.  Das Kniegelenk des Menschen als biomechanisches Problem - The human knee-joint as a biomechanical problem , 1977 .

[14]  S. Cinquemani,et al.  On active lower limb exoskeletons actuators , 2008, 2008 5th International Symposium on Mechatronics and Its Applications.

[15]  Nikolaos G. Tsagarakis,et al.  Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device , 2013, 2013 IEEE International Conference on Robotics and Automation.

[16]  Kenneth Meijer,et al.  The effect of age and joint angle on the proportionality of extensor and flexor strength at the knee joint. , 2004, The journals of gerontology. Series A, Biological sciences and medical sciences.

[17]  Todd M Manini,et al.  Dynapenia and aging: an update. , 2012, The journals of gerontology. Series A, Biological sciences and medical sciences.

[18]  Jian Sun,et al.  WPAL for Enhancing Human Strength and Endurance during Walking , 2007, 2007 International Conference on Information Acquisition.

[19]  Conor James Walsh,et al.  An autonomous, underactuated exoskeleton for load-carrying augmentation , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  S. Lord,et al.  Postural stability and associated physiological factors in a population of aged persons. , 1991, Journal of gerontology.

[21]  Wei Wang,et al.  Design frame of a leg exoskeleton for load-carrying augmentation , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[22]  K. Kiguchi,et al.  A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist , 2007, 2007 6th International Special Topic Conference on Information Technology Applications in Biomedicine.

[23]  Kazuo Kiguchi,et al.  EMG-based control for lower-limb power-assist exoskeletons , 2009, 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space.

[24]  M. Tomizuka,et al.  A Compact Rotary Series Elastic Actuator for Human Assistive Systems , 2012, IEEE/ASME Transactions on Mechatronics.

[25]  Robert W. Horst,et al.  A bio-robotic leg orthosis for rehabilitation and mobility enhancement , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[26]  Chang-Ho Yu,et al.  Analysis of the assistance characteristics for the knee extension motion of knee orthosis using muscular stiffness force feedback , 2013 .

[27]  Kazuhiro Kosuge,et al.  Human Cooperative Motion Adapted Wearable Anti-Gravity Muscle Support System , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  M P Kadaba,et al.  Measurement of lower extremity kinematics during level walking , 1990, Journal of orthopaedic research : official publication of the Orthopaedic Research Society.

[29]  O. Nelles.  Orthonormal Basis Functions for Nonlinear System Identification with Local Linear Model Trees (LOLIMOT) , 1997 .

[30]  Vincent Hayward,et al.  Self-adjusting, isostatic exoskeleton for the human knee joint , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

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

[32]  Kai-Tai Song,et al.  Sensorless assistive torque design for a lower extremity exoskeleton , 2014, 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014).

[33]  Yoshiyuki Sankai,et al.  Control method of robot suit HAL working as operator's muscle using biological and dynamical information , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Dinesh Samuel,et al.  Effect of Ageing on Isometric Strength through Joint Range at Knee and Hip Joints in Three Age Groups of Older Adults , 2009, Gerontology.

[35]  U. Holmberg,et al.  Foot orthosis strain sensing in hill walking , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[36]  Nitish V. Thakor,et al.  A novel compact compliant actuator design for rehabilitation robots , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

[37]  J. S. Rovick,et al.  External knee joint design based on normal motion. , 1985, Journal of rehabilitation research and development.

[38]  Tae-Kyu Kwon,et al.  Analysis of the assistance characteristics for the plantarflexion torque in elderly adults wearing the powered ankle exoskeleton , 2010, ICCAS 2010.

[39]  Kazuhiro Kosuge,et al.  Realizing model-based wearable antigravity muscles support with dynamics terms , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  Kazuhiro Kosuge,et al.  Control of Wearable Walking Support System Based on Human-Model and GRF , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[41]  T.-J. Yeh,et al.  Control of McKibben pneumatic muscles for a power-assist, lower-limb orthosis , 2010 .

[42]  Yu Zheng Chong,et al.  Design and development of inexpensive pneumatically-powered assisted knee-ankle-foot orthosis for gait rehabilitation-preliminary finding , 2012, 2012 International Conference on Biomedical Engineering (ICoBE).

[43]  T. Yoshimitsu,et al.  Development of walking assist equipment with pneumatic cylinder , 2007, SICE Annual Conference 2007.

[44]  T. Hortobágyi,et al.  Age causes a redistribution of joint torques and powers during gait. , 2000, Journal of applied physiology.

[45]  Jun Morimoto,et al.  Extraction of latent kinematic relationships between human users and assistive robots , 2012, 2012 IEEE International Conference on Robotics and Automation.

[46]  Yoshiyuki Sankai,et al.  HAL: Hybrid Assistive Limb Based on Cybernics , 2007, ISRR.

[47]  Yoshiaki Hayashi,et al.  A lower-limb power-assist robot with perception-assist , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[48]  Wei-Hsin Liao,et al.  Experimental evaluation of an assistive knee brace with magnetorheological actuator , 2010, 2010 IEEE International Conference on Robotics and Biomimetics.

[49]  Daisuke Sasaki,et al.  Development of pneumatic lower limb power assist wear driven with wearable air supply system , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[50]  Sebastian Wolf,et al.  Entwicklung einer verbesserten Kniekinematik zur Reduktion von Scherkräften in passiver Kniegelenksorthese , 2013 .

[51]  Kazuto Kora,et al.  Human-inspired robotic exoskeleton (HuREx) for lower limb rehabilitation , 2013, 2013 IEEE International Conference on Mechatronics and Automation.

[52]  Hugh Herr,et al.  Exoskeletons and orthoses: classification, design challenges and future directions , 2009, Journal of NeuroEngineering and Rehabilitation.

[53]  Kok-Meng Lee,et al.  An adaptive knee joint exoskeleton based on biological geometries , 2011, 2011 IEEE International Conference on Robotics and Automation.

[54]  Maria Chiara Carrozza,et al.  A Distributed Pressure Sensor to Measure Human-Machine Interaction in Lower-Limb Exoskeletons , 2012 .

[55]  Tingfang Yan,et al.  Review of assistive strategies in powered lower-limb orthoses and exoskeletons , 2015, Robotics Auton. Syst..

[56]  Fuchun Sun,et al.  sEMG-Based Joint Force Control for an Upper-Limb Power-Assist Exoskeleton Robot , 2014, IEEE Journal of Biomedical and Health Informatics.

[57]  Günter Hommel,et al.  Calibration of an EMG-Based Body Model with six Muscles to control a Leg Exoskeleton , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[58]  Jaime Prat Pastor,et al.  Development of a hinge compatible with the kinematics of the knee joint , 2007, Prosthetics and orthotics international.

[59]  Hiroshi Kaminaga,et al.  Development of knee power assist using backdrivable electro-hydrostatic actuator , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[60]  Eiichirou Tanaka,et al.  Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[61]  Volkan Patoglu,et al.  NEE : A Self-Aligning Knee Exoskeleton , 2013 .

[62]  A. d’Avella,et al.  EMG patterns during assisted walking in the exoskeleton , 2014, Front. Hum. Neurosci..

[63]  Aaron M. Dollar,et al.  Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art , 2008, IEEE Transactions on Robotics.