Implementation of Model for Estimation of Joint Torques for Design of Control for Hip Orthosis
Author
Kannik, Kasper
Term
4. term
Publication year
2011
Abstract
This thesis addresses the design of control for a hip orthosis intended to assist people with gait impairments. The hip module, part of a self-fitting modular orthosis integrated with the Walkaround rehabilitation device, uses a motor and spring to provide flexion and extension. To specify motor drive characteristics and analyze the spring’s effect during walking, a biomechanical model previously used in functional electrical stimulation is adapted and implemented as a software tool to estimate the joint torques required to reproduce a given gait pattern for an individual. The work defines system requirements and use cases for loading model inputs, presenting gait data, and estimating torques, and outlines the analysis, design, and testing of the program. Detailed results are not included in the provided excerpt.
Dette speciale behandler udformningen af styring til en hofte-ortose, der skal hjælpe personer med gangudfordringer. Hofte-modulet, som er en del af en selvtilpassende modulær ortose integreret med rehabiliteringsenheden Walkaround, anvender en motor og en fjeder til at levere fleksion og ekstension. For at fastlægge motordrevets karakteristika og analysere fjederens effekt under gang tilpasses og implementeres en biomekanisk model, tidligere anvendt til funktionel elektrisk stimulering, som et softwareværktøj til at estimere de ledemomenter, der kræves for at reproducere et givent gangmønster for en bestemt person. Arbejdet definerer systemkrav og use cases for indlæsning af modelinput, præsentation af gangdata og estimering af momenter, og skitserer analyse, design og test af programmet. Detaljerede resultater fremgår ikke af det medsendte uddrag.
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