Publicação
A real-time architecture for smart wearable orthoses system
| Resumo: | Therapies assisted by powered Wearable Robotic Devices for treating lower limb impairments – ROBOT-AIDED gait training – have been increasingly used in addition to conventional therapeutic approaches, in the fields of rehabilitation and assistance. Particularly, powered exoskeletons and orthoses have been highlighted. These complex robotic systems require the design of bioinspired control architectures, that emphasizes modularity, determinism, portability and effective actuation. The main goal proposed in this work comprises the development of a powered knee orthosis (PKO) system, embedded with wearable gait sensors, capable of providing assistance to motion while monitoring the human gait, in terms of kinematic, kinetic and physiologic parameters. Furthermore, the overall validation of the rehabilitative tools is carried out with the development of motion control strategies for knee motion assistance, suitable for distinct types of therapies and pathologic patients. These strategies are integrated in a bioinspired hierarchical control architecture, that allows the distribution of controllers (low-, mid-, and high-level) according to the human motor functioning principles. Moreover, an adaptive real-time gait segmentation method capable of detecting six human gait events is also presented and validated, and further integrated in the PKO system. This first set-up of the system was validated with healthy subjects, on treadmill gait training, in order to prove the well-functioning of the designed components, the effectiveness of the actuation and impact of the orthosis in the users. Overall, the outcomes are promising, with a successful validation of the motion assistance strategies as well as the adaptive gait segmentation tool. Furthermore, this work also presents the conceptual design and technical description of a new bioinspired, real-time, modular, and effective architecture for smart wearable orthoses system, entitled SmartOs, capable of integrating an active ankle-foot orthosis (PAFO) and the PKO, with wearable gait sensory systems and advanced gait methods. |
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| Autores principais: | Oliveira, Paulo Jorge Félix |
| Assunto: | Rehabilitation Wearable active orthosis Gait sensors Bioinspired control architecture Reabilitação Ortóteses ativas Sensores da marcha Arquiteturas de controlo bioinspiradas |
| Ano: | 2017 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | Therapies assisted by powered Wearable Robotic Devices for treating lower limb impairments – ROBOT-AIDED gait training – have been increasingly used in addition to conventional therapeutic approaches, in the fields of rehabilitation and assistance. Particularly, powered exoskeletons and orthoses have been highlighted. These complex robotic systems require the design of bioinspired control architectures, that emphasizes modularity, determinism, portability and effective actuation. The main goal proposed in this work comprises the development of a powered knee orthosis (PKO) system, embedded with wearable gait sensors, capable of providing assistance to motion while monitoring the human gait, in terms of kinematic, kinetic and physiologic parameters. Furthermore, the overall validation of the rehabilitative tools is carried out with the development of motion control strategies for knee motion assistance, suitable for distinct types of therapies and pathologic patients. These strategies are integrated in a bioinspired hierarchical control architecture, that allows the distribution of controllers (low-, mid-, and high-level) according to the human motor functioning principles. Moreover, an adaptive real-time gait segmentation method capable of detecting six human gait events is also presented and validated, and further integrated in the PKO system. This first set-up of the system was validated with healthy subjects, on treadmill gait training, in order to prove the well-functioning of the designed components, the effectiveness of the actuation and impact of the orthosis in the users. Overall, the outcomes are promising, with a successful validation of the motion assistance strategies as well as the adaptive gait segmentation tool. Furthermore, this work also presents the conceptual design and technical description of a new bioinspired, real-time, modular, and effective architecture for smart wearable orthoses system, entitled SmartOs, capable of integrating an active ankle-foot orthosis (PAFO) and the PKO, with wearable gait sensory systems and advanced gait methods. |
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