Ortholeg Project - Development of an Active Orthosis Prototype for Lower Limbs

Araújo, Márcio Valério de; Silva, Glaumo N. da; Soares, Lennedy C.; Alsina, Pablo Javier

doi:10.1109/sbr-lars.2012.46

Cited by 7 publications

(5 citation statements)

References 20 publications

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“…In the case of Ortholeg orthosis, each joint of hip and knee is attached to a brushless DC motor (Maxon RE40, 150 W) [3]. When the motor rotates, it moves the correspondent link connected to that joint.…”

Section: B Motors Consumptionmentioning

confidence: 99%

“…An active autonomous orthosis is being improved under Ortholeg project [3], [16], [17], whose gait cycle study is inspired in biped robot approaches (Fig. 3).…”

Section: A Ortholeg Orthosismentioning

confidence: 99%

“…The gait trajectory is guided by the user through manual commands, usually using a control panel in the crutches, while turns are mainly guided by the body's movement. Examples of these devices are eLEGS [1], ReWalk (Argo Medical Technologies Inc ©) [2] and Ortholeg [3]. A few active orthoses do not require the use of crutches, for example the Rex exoskeleton (Rex Bionics ©) [4].…”

Section: Introductionmentioning

confidence: 99%

“…Three groups of experiments were performed 12 times, were each group had a different set of joint trajectories. The orthosis used in this work was the Ortholeg orthosis [3]. This paper is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

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Influence of different gait trajectories in an lower limb active orthosis performance based on user metabolic cost and motors usage

Melo

Alsina

Dórea

et al. 2015

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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In active orthoses for paraplegic users, it is essential that the devices replicate the user's leg movements. This is usually performed through joint position control, where each orthosis joint follows a specific angle trajectory as a reference.The most commonly used approach for generating this required references is to create a set of average joint trajectories from a gait database, and use them as a set of default references. Although recent approaches shown improvement, the influence of a user oriented gait trajectory to the orthosis general performance is still unknown. Nevertheless, due to the complexity of human gait system and individual body reaction when wearing an active lower limb orthosis, the efficacy and performance of such devices are still in current analysis. Ta king the metabolic ef1"ort realized during gait and the electric power used by the motors in consideration, this work presents a performance comparison between different types of trajectories followed by the orthosis.The metabolic effort realized by the user will be obtained through the measurement of the heart beat rate. The experiments were realized in Ortholeg orthosis with a healthy subject. The main contribution of this work is to provide information regarding the influence of difl"erent gait types an active lower limb orthosis performance, allowing a better gait trajectory planning that can be used for daily walk or for rehabilitations programs.

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Section: B Motors Consumptionmentioning

confidence: 99%

“…An active autonomous orthosis is being improved under Ortholeg project [3], [16], [17], whose gait cycle study is inspired in biped robot approaches (Fig. 3).…”

Section: A Ortholeg Orthosismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Influence of different gait trajectories in an lower limb active orthosis performance based on user metabolic cost and motors usage

Melo

Alsina

Dórea

et al. 2015

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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“…With this control structure, the impedance of each joint could be generated selectively according to the user's intent [1]. As another example, an active orthosis of Rio Grande do Norte University [5] has a command-control system. This active orthosis can assist several motions such as sitting, stopping, and walking and the proper motion to user is generated by electroencephalogram signals, voice recognition or joystick.…”

Section: Introductionmentioning

confidence: 99%

A generalized control framework of assistive controllers for lower limb exoskeletons

Baek

Song

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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A number of control methodologies have been studied for assistive robotic technologies. Since the human motions in a daily life consist of multiple phases, such as walking, sitting and standing, controllers for assistive robots are required to be able to cope with different motion phases. For this reason, hybrid control which is able to occasionally switch control algorithms according to the motion phases has been preferred in the assistive robots, in particular wearable robots. In this paper, a generalized control framework is proposed as a fundamental framework for the hybrid assistive control and its stability is analyzed using the framework. The proposed control framework is implemented into a lower-limb exoskeleton robot and its effectiveness is verified thorough experiments.

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