An intrinsically compliant robotic orthosis for treadmill training

Shahid Hussain, Sheng Quan Xie, Prashant K. Jamwal, John Parsons

Research output: Contribution to journalArticle

36 Citations (Scopus)

Abstract

A new intrinsically compliant robotic orthosis powered by pneumatic muscle actuators (PMA) was developed for treadmill training of neurologically impaired subjects. The robotic orthosis has hip and knee sagittal plane rotations actuated by antagonistic configuration of PMA. The orthosis has passive mechanisms to allow vertical and lateral translations of the trunk and a passive hip abduction/adduction joint. A foot lifter having a passive spring mechanism was used to ensure sufficient foot clearance during swing phase. A trajectory tracking controller was implemented to evaluate the performance of the robotic orthosis on a healthy subject. The results show that the robotic orthosis is able to perform the treadmill training task by providing sufficient torques to achieve physiological gait patterns and a realistic stepping experience. The orthosis is a new addition to the rapidly advancing field of robotic orthoses for treadmill training.

Original languageEnglish
Pages (from-to)1448-1453
Number of pages6
JournalMedical Engineering and Physics
Volume34
Issue number10
DOIs
Publication statusPublished - Dec 2012
Externally publishedYes

Fingerprint

Orthotic Devices
Exercise equipment
Robotics
Pneumatics
Muscle
Actuators
Hip
Foot
Muscles
Torque
Trajectories
Gait
Controllers
Knee
Healthy Volunteers
Joints

Keywords

  • Compliance
  • Gait rehabilitation
  • Pneumatic muscle actuators
  • Robotic orthosis
  • Treadmill training

ASJC Scopus subject areas

  • Biomedical Engineering
  • Biophysics

Cite this

An intrinsically compliant robotic orthosis for treadmill training. / Hussain, Shahid; Xie, Sheng Quan; Jamwal, Prashant K.; Parsons, John.

In: Medical Engineering and Physics, Vol. 34, No. 10, 12.2012, p. 1448-1453.

Research output: Contribution to journalArticle

Hussain, Shahid ; Xie, Sheng Quan ; Jamwal, Prashant K. ; Parsons, John. / An intrinsically compliant robotic orthosis for treadmill training. In: Medical Engineering and Physics. 2012 ; Vol. 34, No. 10. pp. 1448-1453.
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