Design and Control of a Powered Lower Limb Orthosis Using a Cable-Differential Mechanism, COWALK-Mobile 2
نویسندگان
چکیده
Powered lower limb orthoses have been commercially available for patients with Spinal Cord Injuries (SCI) or stroke. However, studies shown that there are adverse effects on kinematics as well metabolic energy of the users due to additional mass limbs. Since required use powered is one reasons avoid using them, it important reduce and moment inertia exoskeletons longer better outcomes. In this study, a powered-lower-limb orthosis stroke cable-differential mechanism, which called COWALK-Mobile 2, was proposed. The mechanism utilized transmit actuating torques from actuators hip knee joints. enabled be located near hip, yields reduced device, loads at joints shared by actuators, results in smaller actuator torque. Optimal radii pulleys were found efficient load-sharing during walking. Experimental healthy person walking level surface larger joint generated torques.
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iii To my wife, Renee iv ACKNOWLEDGEMENTS I have been priveledged to work and study under engineers of the highest caliber during my five years at Vanderbilt. I am grateful for and amazed by the consistantly insightful vision with which my advisor, Dr. Michael Goldfarb, has directed our lab. His integrity and humility inspire me. My gratitude also extends to Hugo Quintero for his exceptional en...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3065759