RESUMEN
For patients with lower limb paralysis, wearable robotic systems are becoming increasingly important for regaining mobility. The actuation of these systems is challenging because of the necessity to deliver high power within very limited space. However, not all patients need full support, as many patients have residual muscle function that can be applied for locomotion. This work introduces a microprocessor-controlled leg (hip-knee-ankle-foot) orthosis (mpLeg) with energy recuperation capabilities at the hip joint. The system redistributes motion energy generated by the patient during walking. In stance phase of walking, energy is stored in an elastic element at the hip joint. This energy can be released by computer control later in the gait phase, to support swing phase motion. This work aims at investigating the influence of the elastic element in the orthotic hip joint on a patient's motion. Experiments conducted with a patient suffering from incomplete paraplegia demonstrated that the motion pattern during walking improved with activated energy recuperation. This observation was made over a wide range of system parameters. The patient used the energy recuperation capabilities of the mpLeg with up to 4.1 J recuperated energy per step, which resulted in a more natural swing phase motion during walking. Therefore energy recuperation at the hip joint is a feasible technology for future supportive devices.
Asunto(s)
Articulación de la Cadera/fisiopatología , Aparatos Ortopédicos , Paraplejía/fisiopatología , Caminata/fisiología , Femenino , Humanos , Rodilla/fisiopatología , Persona de Mediana Edad , TorqueRESUMEN
BACKGROUND: The microprocessor-controlled leg orthosis C-Brace enables patients with paretic or paralysed lower limb muscles to use dampened knee flexion under weight-bearing and speed-adapted control of the swing phase. OBJECTIVES: The objective of the present study was to investigate the new technical functions of the C-Brace orthosis, based on biomechanical parameters. STUDY DESIGN: The study enrolled six patients. The C-Brace orthosis is compared with conventional leg orthoses (four stance control orthoses, two locked knee-ankle-foot orthoses) using biomechanical parameters of level walking, descending ramps and descending stairs. METHODS: Ground reaction forces, joint moments and kinematic parameters were measured for level walking as well as ascending and descending ramps and stairs. RESULTS: With the C-Brace, a nearly natural stance phase knee flexion was measured during level walking (mean value 11° ± 5.6°). The maximum swing phase knee flexion angle of the C-Brace approached the normal value of 65° more closely than the stance control orthoses (66° ± 8.5° vs 74° ± 6.4°). No significant differences in the joint moments were found between the C-Brace and stance control orthosis conditions. In contrast to the conventional orthoses, all patients were able to ambulate ramps and stairs using a step-over-step technique with C-Brace (flexion angle 64.6° ± 8.2° and 70.5° ± 12.4°). CONCLUSION: The results show that the functions of the C-Brace for situation-dependent knee flexion under weight bearing have been used by patients with a high level of confidence. CLINICAL RELEVANCE: The functional benefits of the C-Brace in comparison with the conventional orthotic mechanisms could be demonstrated most clearly for descending ramps and stairs. The C-Brace orthosis is able to combine improved orthotic function with sustained orthotic safety.