Powered Orthosis Ortholeg: Design and Development

Author

Araujo, Marcio Valerio ; Alsina, Pablo Javier ; Cavalcanti Roza, Valber Cesar ; Bastos Melo, Nicholas

Author_Institution

Univ. Fed. do Rio Grande do Norte (UFRN), Natal, Brazil

Volume

13

Issue

1

fYear

2015

fDate

Jan. 2015

Firstpage

90

Lastpage

95

Abstract

This paper presents the design and development of a lower limb powered orthosis called Ortholeg. This device was designed to provide lower limb movements (such as walk) to spinal cord injured people unable to move their legs. Ortholeg weights 20kg and can be worn by users within a heights range between 1,55m to 1,70m, and weights up to 65 kg. This robotic device has two actuators for each leg, one at the knee and the other at the hip. Each one of the actuators controls one degree of freedom on the sagittal plane. The device is able to perform movements such as straight walk, sit and stand up. To ensure balance and safety, the user uses a pair of crutches. Ortholeg orthosis has an embedded modular system, motor controllers, sensors and two Human Machine Interfaces (HMI) based on buttons and electroculography.

Keywords

gait analysis; human-robot interaction; medical control systems; medical disorders; neurophysiology; orthotics; electroculography; embedded modular system; human machine interfaces; lower limb movements; lower limb powered orthosis; mass 20 kg; motor controllers; ortholeg design; ortholeg development; robotic device; sensors; spinal cord injured people; Actuators; Electrooculography; Hardware; Legged locomotion; Principal component analysis; Sensors; Electroculography; Human Machine Interfaces; Human gait modeling; PCA; Powered Orthosis;

fLanguage

English

Journal_Title

Latin America Transactions, IEEE (Revista IEEE America Latina)

Publisher

ieee

ISSN

1548-0992

Type

jour

DOI

10.1109/TLA.2015.7040633

Filename

7040633