Ekelem Andrew, Murray Spencer, Goldfarb Michael
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:4671-4. doi: 10.1109/EMBC.2015.7319436.
This paper describes a controller for a lower-limb exoskeleton that enables variable-geometry stair ascent and descent for persons with lower limb paralysis. The controller was evaluated on a subject with T10 complete spinal cord injury (SCI) on two staircases, one with a riser height and tread depth of 18.4 × 27.9 cm (7.25 × 11 in) and the other 17.8 × 29.8 cm (7 × 11.75 in). The controller enabled ascent and descent of both staircases without explicit tuning for each, and with an average step rate of 12.9 step/min during ascent and 14.6 step/min during descent.
本文介绍了一种用于下肢外骨骼的控制器，该控制器能够让下肢瘫痪者进行可变几何形状的上下楼梯动作。该控制器在一名T10完全性脊髓损伤（SCI）患者身上，于两个楼梯上进行了评估，一个楼梯的台阶高度和踏板深度为18.4×27.9厘米（7.25×11英寸），另一个为17.8×29.8厘米（7×11.75英寸）。该控制器能够在无需针对每个楼梯进行明确调整的情况下，实现两个楼梯的上下行，上行时平均步频为12.9步/分钟，下行时为14.6步/分钟。
