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一种针对脊髓损伤患者的以肌肉优先的机电混合步态恢复系统。

A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury.

作者信息

Nandor Mark, Kobetic Rudi, Audu Musa, Triolo Ron, Quinn Roger

机构信息

Department of Mechanical Engineering, Case Western Reserve University, Cleveland, OH, United States.

Advanced Platform Technology Center, Louis Stokes VA Medical Center, Cleveland, OH, United States.

出版信息

Front Robot AI. 2021 Apr 27;8:645588. doi: 10.3389/frobt.2021.645588. eCollection 2021.

DOI:10.3389/frobt.2021.645588
PMID:33987208
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8111011/
Abstract

The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset.

摘要

本文描述了一种针对脊髓损伤患者的混合系统的开发。该系统包括用于激活使用者原本瘫痪肌肉的植入式神经刺激、在臀部和膝盖处配备机电致动器的外骨骼，以及一个整合这两个组件的传感与控制系统。我们采用了肌肉优先的方法：人的肌肉是其关节的主要驱动力，而电机提供动力辅助。这种设计理念促成了高效、低摩擦关节致动器以及前馈式突发扭矩控制的开发。该系统在两名患有脊髓损伤（SCI）且配备独特植入式刺激系统的参与者身上进行了测试。结果发现增加扭矩突发能提高步速。该系统被认为满足了最初设定的主要设计要求。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9f6c/8111011/8a245fb7edd3/frobt-08-645588-g0008.jpg
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