Kobetic Rudi, To Curtis S, Schnellenberger John R, Audu Musa L, Bulea Thomas C, Gaudio Richard, Pinault Gilles, Tashman Scott, Triolo Ronald J
Motion Study Laboratory, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH 44106, USA.
J Rehabil Res Dev. 2009;46(3):447-62.
This study explores the feasibility of a hybrid system of exoskeletal bracing and multichannel functional electrical stimulation (FES) to facilitate standing, walking, and stair climbing after spinal cord injury (SCI). The orthotic components consist of electromechanical joints that lock and unlock automatically to provide upright stability and free movement powered by FES. Preliminary results from a prototype device on nondisabled and SCI volunteers are presented. A novel variable coupling hip-reciprocating mechanism either acts as a standard reciprocating gait orthosis or allows each hip to independently lock or rotate freely. Rotary actuators at each hip are configured in a closed hydraulic circuit and regulated by a finite state postural controller based on real-time sensor information. The knee mechanism locks during stance to prevent collapse and unlocks during swing, while the ankle is constrained to move in the sagittal plane under FES-only control. The trunk is fixed in a rigid corset, and new ankle and trunk mechanisms are under development. Because the exoskeletal control mechanisms were built from off-the-shelf components, weight and cosmesis specifications for clinical use have not been met, although the power requirements are low enough to provide more than 4 hours of continuous operation with standard camcorder batteries.
本研究探讨了外骨骼支撑与多通道功能性电刺激（FES）混合系统在脊髓损伤（SCI）后促进站立、行走和爬楼梯的可行性。矫形组件由机电关节组成，这些关节可自动锁定和解锁，以提供直立稳定性并由FES驱动自由运动。展示了在非残疾和SCI志愿者身上使用原型设备的初步结果。一种新型可变耦合髋关节往复机构既可以作为标准的往复步态矫形器，也可以使每个髋关节独立锁定或自由旋转。每个髋关节处的旋转致动器配置在一个封闭的液压回路中，并由基于实时传感器信息的有限状态姿势控制器进行调节。膝关节机构在站立期锁定以防止塌陷，在摆动期解锁，而踝关节在仅由FES控制的情况下被限制在矢状面内移动。躯干固定在刚性束腰中，新的踝关节和躯干机构正在研发中。由于外骨骼控制机制是由现成的组件构建而成，尽管功率要求低到足以使用标准摄像机电池提供超过4小时的连续运行，但仍未达到临床使用的重量和美观规格。
