Control of a Pneumatic Muscle Actuated Rehabilitation System of the Lower Limb Bearing Joints

2015 ◽  
Vol 809-810 ◽  
pp. 706-711
Author(s):  
Tudor Deaconescu ◽  
Andrea Deaconescu
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Rehabilitation Medicine ◽  
Medical Systems ◽  
Pneumatic Muscle ◽  
Motion Graphs ◽  
Pneumatic Muscles ◽  
Rehabilitation System

The specific objectives of rehabilitation medicine are maintaining and recovering human body functions, as well as preventing dysfunctionalities by means of kinetic and orthotic techniques and a variety of equipment for support and adaptation. The latter are medical systems facilitating the exercise of muscles at constant or variable speeds according to professional recommendations. The paper presents and discusses the control of rehabilitation equipment designed for the passive mobilisation exercises of joints. The novelty of such equipment resides in its actuation by pneumatic muscles, as well as in its control by means of an SPC 200 controller and WinPISA software. The paper presents a number of examples of rehabilitation programmes and the corresponding motion graphs of the rehabilitation equipment sliding block.

Elements of Gait Kinematic Analyze in CAMONAL Project

2013 ◽  
Vol 436 ◽  
pp. 247-254
Author(s):  
Mihai Berteanu ◽  
Pierre de Hillerin ◽  
Radu Bidiugan ◽  
Ileana Ciobanu ◽  
Ruxandra Badea ◽  
...  
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Rehabilitation Medicine ◽  
Sensor Systems ◽  
Limb Movements ◽  
Nervous Control ◽  
The Way

The kinematics of the human body is very complex. Every movement involves many joints, muscles and a special nervous control. The modern miniaturized inertial sensor systems prove to be valuable tools for rehabilitation medicine. We present the way a system of inertial sensors can be used to compare healthy and affected lower limb movements during gait.

Control of McKibben pneumatic muscles for a power-assist, lower-limb orthosis

Mechatronics ◽  
2010 ◽  
Vol 20 (6) ◽  
pp. 686-697 ◽  
Author(s):  
T.-J. Yeh ◽  
Meng-Je Wu ◽  
Ting-Jiang Lu ◽  
Feng-Kuang Wu ◽  
Chih-Ren Huang
Keyword(s):  
Lower Limb ◽  
Pneumatic Muscles

scholarly journals Kinematics of the Foot

1982 ◽  
Vol 9 (2) ◽  
pp. 119-125 ◽  
Author(s):  
P. Allard ◽  
P.S. Thiry ◽  
M. Duhaime ◽  
G. Geoffroy
Keyword(s):  
Computer Program ◽  
Human Body ◽  
Lower Limb ◽  
Three Dimensional ◽  
Spatial Location ◽  
Geometrical Parameters ◽  
Rotating Platform ◽  
Talocrural Joint ◽  
Body Segments ◽  
Simple Movement

SUMMARY:Orthogonal stereoradiographs are frequently utilized in determining three-dimensional geometrical parameters of human body segments. They have been applied here in the estimation of the length and elongation of the ligaments of the normal foot. Three small spherical metallic markers were respectively encrusted into the tibia and fibula, the seven bones of the tarsus and into the five metatarsals of an amputed lower limb to identify uniquely their spatial location. The foot was then positioned on a rotating platform. Standardized antero-posterior and lateral radiographs were taken. Afterwards the foot was dissected and the proximal and distal insertions of most of its ligaments were located by means of spherical markers. A second series of orthogonal radiographs were taken of each of the fourteen bones. The radiographs were digitized. The length of each ligament and elongation for a simple and complex movements were calculated by means of a computer program. The results of a simple movement of rotation representing a normal 20° dorsiflexion at the talocrural joint and of complex movements of rotation simulating an abnormal high arch such as encountered in Friedreich’s ataxia are presented and discussed.

A Method of Lower Limb Joint Points Extraction Based on Pendulum Model under Arbitrary Gesture Walk

2014 ◽  
Vol 556-562 ◽  
pp. 4347-4351
Author(s):  
Ning Yang ◽  
Jin Tao Li ◽  
Rong Wang
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Extraction Method ◽  
Gait Recognition ◽  
Human Gait ◽  
Step Cycle ◽  
Joint Point ◽  
Pendulum Model ◽  
Real Time Tracking ◽  
Body Joints

The position extraction of lower limb joint points is important for gait recognition because the feature data is always based on the position of lower limb joint points. Since the detection of motion information of human body can affect the gait recognition directly, we propose a position extraction method of lower limb joint points in this paper. Through the study on the human body centroid tracking, and positioning of human lower limb joint point, we can obtain the step cycle information. It has been demonstrated via plenty experiments that the proposed method is feasible and easy for implement, since it can achieve real-time tracking and improve positioning accuracy of the human body joints, and can provide feature data for human gait recognition.

Develop a Flexible Regenerative Exoskeleton to Assist Walking

2018 ◽  
Author(s):  
Longhan Xie ◽  
Xiaodong Li
Keyword(s):  
Kinetic Energy ◽  
Human Body ◽  
Lower Limb ◽  
Metabolic Cost ◽  
Lower Limbs ◽  
Metabolic Energy ◽  
Lower Limb Exoskeleton ◽  
Negative Work ◽  
Lower Limb Muscles ◽  
Assisting Device

During walking, human lower limbs accelerate and decelerate alternately, during which period the human body does positive and negative work, respectively. Muscles provide power to all motions and cost metabolic energy both in accelerating and decelerating the lower limbs. In this work, the lower-limb biomechanics of walking was analyzed and it revealed that if the negative work performed during deceleration can be harnessed using some assisting device to then assist the acceleration movement of the lower limb, the total metabolic cost of the human body during walking can be reduced. A flexible lower-limb exoskeleton was then proposed; it is worn in parallel to the lower limbs to assist human walking without consuming external power. The flexible exoskeleton consists of elastic and damping components that are similar to physiological structure of a human lower limb. When worn on the lower limb, the exoskeleton can partly replace the function of the lower limb muscles and scavenge kinetic energy during lower limb deceleration to assist the acceleration movement. Besides, the generator in the exoskeleton, serving as a damping component, can harvest kinetic energy to produce electricity. A prototype of the flexible exoskeleton was developed, and experiments were carried out to validate the analysis. The experiments showed that the exoskeleton could reduce the metabolic cost by 3.12% at the walking speed of 4.5 km/h.

Design of a novel walking assistance device for people with walking disabilities

2017 ◽  
Vol 6 (4) ◽  
pp. 191
Author(s):  
Mohammad Rafighi ◽  
Abdulkadir Güllü
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Body Motion ◽  
High Price ◽  
Light Weight ◽  
The Novel ◽  
Software Module ◽  
Heavy Weight ◽  
The People

Moving independently is very important for people with walking disability, thus, in this paper the novel walking assistance device is designed based on strategies derived from optimization of available walking assistance devices for ‎the people with walking disabilities. Available walking assistance device like ReWalk has high price and heavy weight disadvantages. Therefore, the main aim of this study is optimization of available devices by new design and analyses to make them cheaper and lighter. The presented device is a simulator of a human body motion in lower limb which consists of ‎ hip, shank and knee. All parts were designed and assembled in software module and after manufacturing, it could be used as a rehabilitation device for the people with walking disability to support their sitting, standing and walking. As a result, regarding to aforementioned issues, in this study the new walking assistance device was designed which is inexpensive and light weight.

A Novel Geometric Formula for Predicting Contractile Force in McKibben Pneumatic Muscles

2017 ◽  
Vol 11 (3) ◽  
pp. 368-377 ◽  
Author(s):  
Guido Belforte ◽  
◽  
Terenziano Raparelli ◽  
Silvia Alessandra Sirolli
Keyword(s):  
Analytical Formula ◽  
Experimental Models ◽  
Design Tool ◽  
Analytical Models ◽  
Pneumatic Muscle ◽  
Muscle Structure ◽  
Pneumatic Muscles ◽  
Muscle Geometry ◽  
Muscle Types ◽  
Specific Muscle

Several analytical models exist in the literature for predicting the behavior of braided pneumatic muscles (McKibben muscles). Such models take into consideration the various variables and parameters that are related to the muscle geometry, material properties, and the loads applied to the system, and propose various relationships between these variables. Owing to the complexity of the muscle structure, in several cases, instead of a physical model, empirical or experimental models are used, which generally have limited validity for specific muscle types, i.e., they are only valid for a restricted range of operating parameters. This study proposes a new analytical formula based on the geometry of a pneumatic muscle studied in the rest and work phases and a simple experimental method to obtain corrective factors useful to design muscles. A mathematical formula can thus be obtained that allows one to deduce the measurements of interest in the system as a function of the specific parameters and permits one to interpret in qualitative terms the behavior of the muscle at each moment for various values of pressure, contraction, and applied load and to identify any critical situations. This model can therefore be a very useful design tool because it allows one to adapt the muscle geometry based on the required forces and contractions for different applications that are compatible with the muscle structure on which the model is based. This paper also presents a method for evaluating the efficiency of the muscles, useful to better use them in different applications.

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