Farris Ryan J, Quintero Hugo A, Goldfarb Michael
Vanderbilt University, Nashville, TN 37235, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:1908-11. doi: 10.1109/EMBC.2012.6346326.
This paper describes the application of a powered lower limb exoskeleton to aid paraplegic individuals in stair ascent and descent. A brief description of the exoskeleton hardware is provided along with an explanation of the control methodology implemented to allow stair ascent and descent. Tests were performed with a paraplegic individual (T10 complete injury level) and data is presented from multiple trials, including the hip and knee joint torque and power required to perform this functionality. Joint torque and power requirements are summarized, including peak hip and knee joint torque requirements of 0.75 Nm/kg and 0.87 Nm/kg, respectively, and peak hip and knee joint power requirements of approximately 0.65 W/kg and 0.85 W/kg, respectively.
本文描述了一种动力下肢外骨骼在帮助截瘫患者上下楼梯方面的应用。文中简要介绍了外骨骼硬件，并解释了为实现上下楼梯功能而实施的控制方法。对一名截瘫患者（T10完全损伤平面）进行了测试，并给出了多次试验的数据，包括实现该功能所需的髋关节和膝关节扭矩及功率。总结了关节扭矩和功率需求，其中髋关节和膝关节的峰值扭矩需求分别为0.75 Nm/kg和0.87 Nm/kg，髋关节和膝关节的峰值功率需求分别约为0.65 W/kg和0.85 W/kg。
