Towards the control of a powered orthosis for people with muscular dystrophy

T. Rahman, R. Ramanathan, S. Stroud, W. Sample, R. Seliktar, W. Harwin, M. Alexander, M. Scavina

Research output: Contribution to journalArticlepeer-review

21 Scopus citations

Abstract

The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.

Original languageEnglish (US)
Pages (from-to)267-274
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
Volume215
Issue number3
DOIs
StatePublished - 2001

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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