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Many patients with lower limb movement disorders need or may benefit from walking assistance
.
Common causes of movement disorders include stroke, incomplete spinal cord injury, multiple sclerosis, and cerebral palsy
Many applications may require single-joint assistance related to multi-joint movement
.
For example, the auxiliary device can be used only at the knee joint, but the device should coordinate the movement between the knee joint and other joints of the leg (for example, the ipsilateral hip joint)
The author here seeks to modify the motion control method used in the sDOA-mDOF system and evaluate the extent to which the method provides effective control for such applications
In order to evaluate the performance of the controller relative to the equipment used daily, the controller was implemented on the knee exoskeleton
.
The kinematics of the knee joint and thigh of the controller, the user's walking speed and the torque output of the controller were tested
The experiment for each subject was carried out in two courses, each on a different day: the first course was used for assembly, calibration and adaptation, and the second course was used for data collection
.
In the first course of treatment, each subject was installed on the device and was familiar with the state of the stance phase
Patient wearing a prosthesis test
The walking speeds of subjects 1, 2, and 3 with the exoskeleton were 0.
95, 1.
00, and 0.
94 m/s, respectively; the speeds without the exoskeleton were 0.
97, 1.
02, and 0.
95 m/s, respectively
.
Therefore, the walking speed in the two cases is actually the same
The subject is affected by the kinematics of the legs measured by the Xsens motion capture system
The exoskeleton and controller were tested on three subjects with unilateral dysfunction and poor mobility
.
The results show that the prosthesis can improve the knee kinematics of the patient during the swing phase and the stance phase
The results show that the prosthesis can improve the knee kinematics of the patient during the swing phase and the stance phase
A.
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