Adaptive Knee Orthosis with Power Support to assist the Elderly

具有动力支持的自适应膝关节矫形器可帮助老年人

• 批准号: 164569068
• 负责人: Professor Dr.-Ing. Ulrich Konigorski
• 金额: --
• 依托单位: Klinik für Orthopädie und Unfallchirurgie
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2010
• 资助国家: 德国
• 起止时间: 2009-12-31 至 2019-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/164569068?language=en
• 关键词: Adaptive; Knee; Orthosis; Power; Support

The aim of this cooperative research project is to develop scientific knowledge for the development of an adaptive knee orthosis with power support to ease mobility for the elderly. Conventional stationary supports such as rising chairs and stair lifts may become obsolete once an uprising and stair climbing aid is available which is easily applied at the body, comfortable in use and intuitive to operate. The independent recognition of support demand characterizes the adaptive nature of the active orthosis. This kind of mechatronic assistance system could support the elderly in their mobility. Furthermore, therapeutic use is conceivable.In the first phase of research, a serial-elastic actuator (SEA) and special kinematics have been developed to follow the physiological knee motion and test orthoses were built. By means of surface electromyography it was verified that under external power support during the transfer movement, the activation of the knee extensors is reduced accordingly. Hence, the orthosis actually relieves the user when standing up from a sitting position. The autonomous control of the sit-to-stand process is implemented using a model of the user with orthosis and force measurement at the foot-plate of the orthosis as input variable. This allows both, the power and the transparency of the orthosis perceived by the user to be scaled dynamically. For situational awareness, a mechanical muscle activity sensor is designed for use around the thigh. Inertial sensors provide redundant orientation determination of the orthosis and enhance situational awareness in the future.The current demonstrator is still rather large and the system is controlled by a number of external devices, so that a practice-oriented testing is difficult. In the second research phase, bionically inspired distributed string-actuators are developed that allow significant weight and space reduction. Similar to the kinematics and sensors, they will be integrated in the framework of the orthosis as much as possible. This field test demonstrator should then be subject of intensive tests for further scientific issues such as the redistribution of biomechanical loads under motor support at the knee. Possible tripping and falling risks induced by the orthosis are examined. The results will be used in the future as a basis for the development of mobility-enhancing assistance systems.

该合作研究项目的目的是开发科学知识，开发具有动力支持的自适应膝关节矫形器，以减轻老年人的活动能力。一旦出现可轻松应用于身体、使用舒适且操作直观的起立和爬楼梯辅助工具，传统的固定支撑物（例如起立椅和楼梯升降机）可能会被淘汰。对支撑需求的独立识别体现了主动矫形器的适应性特征。这种机电辅助系统可以支持老年人的行动能力。此外，治疗用途也是可以想象的。在研究的第一阶段，开发了串行弹性致动器（SEA）和特殊的运动学来遵循生理膝关节运动，并建造了测试矫形器。通过表面肌电图证实，在转移运动过程中，在外部动力支持下，膝关节伸肌的激活程度相应降低。因此，当使用者从坐姿站起来时，矫形器实际上减轻了使用者的负担。从坐到站过程的自主控制是使用带有矫形器的用户模型和矫形器脚踏板处的力测量作为输入变量来实现的。这使得用户感知到的矫形器的力量和透明度都可以动态缩放。为了实现态势感知，机械肌肉活动传感器被设计用于大腿周围。惯性传感器为矫形器提供了冗余的方向确定，并增强了未来的态势感知能力。目前的演示器仍然较大，并且系统由多个外部设备控制，因此面向实践的测试很困难。在第二个研究阶段，开发了受仿生启发的分布式弦执行器，可以显着减少重量和空间。与运动学和传感器类似，它们将尽可能集成在矫形器的框架中。然后，该现场测试演示器应该接受针对进一步科学问题的密集测试，例如在膝盖运动支撑下生物力学负荷的重新分配。检查矫形器可能引起的绊倒和跌倒风险。研究结果将在未来用作开发移动增强辅助系统的基础。