Optimization of an unpowered energy-stored exoskeleton spring stiffness for spinal cord injuries

doi:10.16511/j.cnki.qhdxxb.2017.21.035

Abstract
Figures/Tables
References
Related Articles
Metrics

Download: PDF(2016 KB)
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

Abstract The unpowered energy-stored exoskeleton can provide precise walking assistance for spinal cord injury patients for a specified body height, weight and injury level. Since the energy-stored springs are standard components of the exoskeleton, their stiffness should be constant. The aim of this study is to select the optimal stiffness of the exoskeleton springs. The hip joint moment was related to the body height, body weight and hip joint angle through an inverse dynamics model for spinal cord injury patients walking in the single support phase from mid stance to terminal stance. The optimization method minimized the integral of the absolute moment generated by the hip joint and springs. The results show that the stiffness of spring 1 (k₁) has a normal distribution while the stiffness of spring 2 (k₂) does not. The medians of the two spring stiffnesses (the median k₁=3 180 N/m and the median k₂=1 279 N/m) can apply to patients whose heights and weights are in the P1-P99 ranges.

Keywords spinal cord injury walking standing exoskeleton energy-stored

ZTFLH:

R496

Issue Date: 15 November 2017

	Service

	E-mail this article
	E-mail Alert
	RSS
	Articles by authors

	GUAN Xinyu
	JI Linhong
	WANG Rencheng

Cite this article:

GUAN Xinyu,JI Linhong,WANG Rencheng. Optimization of an unpowered energy-stored exoskeleton spring stiffness for spinal cord injuries[J]. Journal of Tsinghua University(Science and Technology), 2017, 57(11): 1179-1184.

URL:

http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2017.21.035 OR http://jst.tsinghuajournals.com/EN/Y2017/V57/I11/1179

[1]	Kirshblum S C, Burns S P, Biering-Sorensen F, et al.International standards for neurological classification of spinal cord injury (revised 2011)[J]. The Journal of Spinal Cord Medicine, 2011, 34(6):535-546.
[2]	Maimoun L, Fattal C, Micallef J, et al.Bone loss in spinal cord-injured patients:From physiopathology to therapy[J]. Spinal Cord, 2006, 44(4):203-210.
[3]	Johnson W B.Walking mechanics of persons who use reciprocating gait orthoses[J]. Journal of Rehabilitation Research and Development, 2009, 46(3):435.
[4]	Colombo G, Wirz M, Dietz V.Driven gait orthosis for improvement of locomotor training in paraplegic patients[J]. Spinal Cord, 2001, 39(5):252-255.
[5]	Audu M L, To C S, Kobetic R, et al.Gait evaluation of a novel hip constraint orthosis with implication for walking in paraplegia[J]. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2011, 18(6):610-618. url: http://dx.doi.org/Transactions on Neural Systems
[6]	Drake R, Vogl A W, Mitchell A W, Gray's Anatomy for Students[M]. New York:Bellevue Literary Press, 2014.
[7]	Middleton J W, Sinclair P J, Smith R M, et al.Postural control during stance in paraplegia:Effects of medially linked versus unlinked knee-ankle-foot orthoses[J]. Archives of Physical Medicine & Rehabilitation, 1999, 80(12):1558-1565. url: http://dx.doi.org/ves of Physical Medicine
[8]	Abe K.Comparison of static balance, walking velocity, and energy consumption with knee-ankle-foot orthosis, walkabout orthosis, and reciprocating gait orthosis in thoracic-level paraplegic patients[J]. Journal of Prosthetics & Orthotics, 2006, 18(18):87-91. url: http://dx.doi.org/al of Prosthetics
[9]	Walsh C J, Paluska D, Pasch K, et al. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation[C]//Proceedings 2006 IEEE International Conference on Robotics and Automation. Orlando, FL, USA:IEEE, 2006:3485-3491.
[10]	Guan X, Liu Y, Gao L, et al.Trunk muscle activity patterns of a person with spinal cord injury walking with different un-powered exoskeletons:A case study[J]. Journal of Rehabilitation Medicine, 2016, 48(4):390-396.
[11]	Zajac F E, Neptune R R, Kautz S A.Biomechanics and muscle coordination of human walking:Part I:Introduction to concepts, power transfer, dynamics and simulations[J]. Gait & Posture, 2002, 16(3):215-232.
[12]	Johnson W B, Fatone S, Gard S A.Walking mechanics of persons who use reciprocating gait orthoses[J]. Journal of Rehabilitation Research & Development, 2009, 46(3):435-446. url: http://dx.doi.org/al of Rehabilitation Research
[13]	Chiu M C, Wu H C, Chang L Y.Gait speed and gender effects on center of pressure progression during normal walking[J]. Gait & Posture, 2013, 37(1):43-8.
[14]	Fineberg D B, Asselin P, Harel N Y, et al.Vertical ground reaction force-based analysis of powered exoskeleton-assisted walking in persons with motor-complete paraplegia[J]. The Journal of Spinal Cord Medicine, 2013, 36(4):313-321.
[15]	Winter D A, Biomechanics and Motor Control of Human Movement[M]. New York:John Wiley & Sons, 2009.
[16]	Reynolds H M, Snow C C, Young J W.Spatial geometry of the human pelvis[J]. Spatial Geometry of the Human Pelvis, 1982.
[17]	Lin K H, Lu T W, Hsu P P, et al.Postural responses during falling with rapid reach-and-grasp balance reaction in patients with motor complete paraplegia[J]. Spinal Cord, 2008, 46(3):204-209.

[1]	LI Fan, LI Dongxing, WANG Dianjun, CHEN Ya, TANG Xiaoqiang. Exoskeleton for shoulder joint assistance based on underactuated parallel cable mechanism[J]. Journal of Tsinghua University(Science and Technology), 2022, 62(1): 141-148.
[2]	WANG Wei, YANG Kaiming, ZHU Yu, QIAN Yuyang. Walking speed estimation based on empirical mode decomposition method and swing foot parameters[J]. Journal of Tsinghua University(Science and Technology), 2021, 61(10): 1152-1158.
[3]	Yulin LIU,Yinbo LI,Renhao LU,Xinyu GUAN,Linhong JI. Clutched elastic actuator to drive a lower limb exoskeleton hip joint for paraplegic patients[J]. Journal of Tsinghua University(Science and Technology), 2021, 61(1): 42-49.
[4]	XU Yuning, HUANG Jing, CHEN Ken, FU Chenglong. Simulation of the effects of shoulder-pole parameters on the waist torque during biped load walking[J]. Journal of Tsinghua University(Science and Technology), 2019, 59(9): 757-764.
[5]	WANG Wenguan, CHEN Yunwen, CAI Hua, ZENG Yanneng, YANG Huiyu. Judicial document intellectual processing using hybrid deep neural networks[J]. Journal of Tsinghua University(Science and Technology), 2019, 59(7): 505-511.
[6]	LI Yinbo, TANG Zihan, JI Linhong, MENG Kuilin, LI Zhibin, GUAN Xinyu. Physical human-robot interface for lower limb exoskeletons to affect internal joint forces[J]. Journal of Tsinghua University(Science and Technology), 2019, 59(7): 544-550.
[7]	LAN Jian, Hyunjun Park, FU Chenglong, CHEN Ken. Vertical ground reaction forces at various speeds during stair climbing[J]. Journal of Tsinghua University(Science and Technology), 2019, 59(6): 453-460.
[8]	GUO Shaoru, ZHANG Hu, QIAN Yili, LI Ru, YANG Zhizhuo, GU Zhaojun, MA Shuhui. Semantic relevancy between sentences for Chinese reading comprehension on college entrance examinations[J]. Journal of Tsinghua University(Science and Technology), 2017, 57(6): 575-579,585.
[9]	MA Qingchuan, JI Linhong, WANG Rencheng, LI Wei. Foot-wheel driven exoskeleton for rehabilitation training of paraplegic patients[J]. Journal of Tsinghua University(Science and Technology), 2017, 57(6): 597-603.
[10]	ZHANG Jiwen, LIU Li, CHEN Ken. Stabilizing control of humanoids' walking based on AHRS feedback[J]. Journal of Tsinghua University(Science and Technology), 2016, 56(8): 818-823.

Viewed

Full text

Abstract

Cited

Shared

Discussed