Design and Control of the MINDWALKER Exoskeleton

被引：308

作者：

Wang, Shiqian ^{[1
]}

Wang, Letian ^{[2
]}

Meijneke, Cory ^{[1
]}

van Asseldonk, Edwin ^{[2
]}

Hoellinger, Thomas ^{[3
]}

Cheron, Guy ^{[3
]}

Ivanenko, Yuri ^{[4
]}

La Scaleia, Valentina ^{[4
,5
]}

Sylos-Labini, Francesca ^{[4
,5
]}

Molinari, Marco ^{[6
,7
]}

Tamburella, Federica ^{[6
,7
]}

Pisotta, Iolanda ^{[6
,7
]}

Thorsteinsson, Freygardur ^{[8
]}

Ilzkovitz, Michel ^{[9
]}

Gancet, Jeremi ^{[9
]}

Nevatia, Yashodhan ^{[9
]}

Hauffe, Ralf ^{[10
]}

Zanow, Frank ^{[11
]}

van der Kooij, Herman ^{[1
,2
]}

机构：

[1] Delft Univ Technol, Biomech Engn Dept, NL-2628 CD Delft, Netherlands

[2] Univ Twente, Biomech Engn Dept, NL-7522 NB Enschede, Netherlands

[3] Univ Libre Bruxelles, Lab Neurophysiol & Movement Biomech, B-1070 Brussels, Belgium

[4] IRCCS Fdn Santa Lucia, Dept Neuromotor Physiol, I-00179 Rome, Italy

[5] Univ Roma Tor Vergata, Dept Syst Med, I-00133 Rome, Italy

[6] IRCCS Fdn Santa Lucia, Neurorehabil Clin Unit, I-00179 Rome, Italy

[7] IRCCS Fdn Santa Lucia, Expt Neurorehabil Lab, I-00179 Rome, Italy

[8] OSSUR, IS-110 Reykjavik, Iceland

[9] Space Applicat Serv NV SA, B-1932 Zaventem, Belgium

[10] Eemagine Med Imaging Solut GmbH, D-10243 Berlin, Germany

[11] ANT Neuro, NL-7521 PT Enschede, Netherlands

来源：

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | 2015年 / 23卷 / 02期

关键词：

Balance control; exoskeleton; extrapolated center of mass (XCoM); gait assistance; MINDWALKER; series elastic actuation (SEA); RECIPROCATING GAIT ORTHOSIS; SPINAL-CORD-INJURY; LATERAL BALANCE; WALKING; STABILIZATION; ARGO; MASS;

D O I：

10.1109/TNSRE.2014.2365697

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Powered exoskeletons can empower paraplegics to stand and walk. Actively controlled hip ab/adduction (HAA) is needed for weight shift and for lateral foot placement to support dynamic balance control and to counteract disturbances in the frontal plane. Here, we describe the design, control, and preliminary evaluation of a novel exoskeleton, MINDWALKER. Besides powered hip flexion/extension and knee flexion/extension, it also has powered HAA. Each of the powered joints has a series elastic actuator, which can deliver 100 Nm torque and 1 kW power. A finite-state machine based controller provides gait assistance in both the sagittal and frontal planes. State transitions, such as stepping, can be triggered by the displacement of the Center of Mass (CoM). A novel step-width adaptation algorithm was proposed to stabilize lateral balance. We tested this exoskeleton on both healthy subjects and paraplegics. Experimental results showed that all users could successfully trigger steps by CoM displacement. The step-width adaptation algorithm could actively counteract disturbances, such as pushes. With the current implementations, stable walking without crutches has been achieved for healthy subjects but not yet for SCI paraplegics. More research and development is needed to improve the gait stability.

引用

页码：277 / 286

页数：10

共 46 条

[1]

Almesfer F., 2011, WIPO Patent, Patent No. [WO2011002306A1, 2011002306]

[2]

Angold R., 2012, WIPO patent, Patent No. [WO2012037555A1, 2012037555]

[3]

[Anonymous], P SPIE INT SOC OPT E

[4]

[Anonymous], THESIS DELFT U TECH

[5]

[Anonymous], P INT C HUM ROB HUM

[6]

[Anonymous], P INT C INT ROB SYST

[7]

[Anonymous], 2011, THESIS U CALIFORNIA

[8]

[Anonymous], P INT C HUM ROB HUM

[9]

[Anonymous], P IEEE INT C ROB AUT

[10]

[Anonymous], FRONT HUMAN NEUROSCI

← 1 2 3 4 5 →