In this paper the development of a lower limb orthosis is presented. The orthosis is designed to help the elderly or disabled people to stand up and to sit down. The specifications of the orthosis’ design are psicologic acceptability from the user, ergonomy, safety, low cost. The knee joint is driven by two McKibben pneumatic muscle as actuators working togheter. For what concern the control system, two strategies are implemented for testing purpose: one based on an on-off logic and another one based on a proportional one. Both the control systems use a reference signal generated by a “user intention sensor” specifically developed by the authors. It is a pneumatic displacement sensor which measures the muscle hardness. Some experimental tests with a healthy person were carried out. The results show a good behaviour of the device, and suggest other work to optimize it.

Powered Lower Limb Orthosis for Assisting Standing Up and Sitting Down Movements

BEOMONTE ZOBEL, Pierluigi;DURANTE, FRANCESCO
2004-01-01

Abstract

In this paper the development of a lower limb orthosis is presented. The orthosis is designed to help the elderly or disabled people to stand up and to sit down. The specifications of the orthosis’ design are psicologic acceptability from the user, ergonomy, safety, low cost. The knee joint is driven by two McKibben pneumatic muscle as actuators working togheter. For what concern the control system, two strategies are implemented for testing purpose: one based on an on-off logic and another one based on a proportional one. Both the control systems use a reference signal generated by a “user intention sensor” specifically developed by the authors. It is a pneumatic displacement sensor which measures the muscle hardness. Some experimental tests with a healthy person were carried out. The results show a good behaviour of the device, and suggest other work to optimize it.
2004
1-85233-819-9
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/26999
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