Lower-limb orthotic devices may be used to aid or restore mobility to the impaired user. Powered orthoses, in particular, hold great potential in improving the quality of life for individuals with locomotor difficulties because active control of an orthosis can aid limb movement in common tasks that may even be impossible if unaided. However, these devices have primarily remained the products of research labs with the number of effective commercial applications for the laity being nearly nonexistent. This paper provides an overview of the current status of powered orthoses and goes on to discuss key issues in modeling and control of powered orthoses so that designers can have a unified framework in developing user-oriented devices. Key concepts are demonstrated for a powered knee-orthosis intended for assisting the sit-to-stand task, and both pneumatic muscle and dc motor actuators are considered in this conceptual design study. In the final analysis, we conclude that the ability to provide sit-to-stand assistance is profoundly dependent on the type of control signal employed to control the actuator from the user–orthosis interface.
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e-mail: wreby@engmail.uwaterloo.ca
e-mail: ekubica@kingcong.uwaterloo.ca
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June 2007
Research Papers
Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
Wesley R. Eby,
Wesley R. Eby
Systems Design Engineering,
e-mail: wreby@engmail.uwaterloo.ca
University of Waterloo
, Waterloo, Canada N2L 3G1
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Eric Kubica
Eric Kubica
Systems Design Engineering,
e-mail: ekubica@kingcong.uwaterloo.ca
University of Waterloo
, Waterloo, Canada N2L 3G1
Search for other works by this author on:
Wesley R. Eby
Systems Design Engineering,
University of Waterloo
, Waterloo, Canada N2L 3G1e-mail: wreby@engmail.uwaterloo.ca
Eric Kubica
Systems Design Engineering,
University of Waterloo
, Waterloo, Canada N2L 3G1e-mail: ekubica@kingcong.uwaterloo.ca
J. Med. Devices. Jun 2007, 1(2): 126-139 (14 pages)
Published Online: September 1, 2006
Article history
Received:
March 22, 2006
Revised:
September 1, 2006
Citation
Eby, W. R., and Kubica, E. (September 1, 2006). "Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS." ASME. J. Med. Devices. June 2007; 1(2): 126–139. https://doi.org/10.1115/1.2735969
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