Advertisement

A Portable Active Pelvis Orthosis for Ambulatory Movement Assistance

  • Andrea ParriEmail author
  • Tingfang Yan
  • Francesco Giovacchini
  • Mario Cortese
  • Marco Muscolo
  • Matteo Fantozzi
  • Raffaele Molino Lova
  • Nicola Vitiello
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)

Abstract

Aging of population and increased incidence of gait impairments are dominant trends undermining social welfare and healthcare system. Lower-limb wearable robots proved to be a viable solution for recovering mobility of people affected by gait disorders. This work presents the design of the mechatronic architecture of a fully self-contained active pelvis orthosis (APO) for assisting hip flexion/extension movements during daily living activities. The APO could act compliantly with the human biomechanics thanks to series-elastic actuation and to a novel kinematics chain endowed with passive degrees of freedom. The portability and autonomy of the control system have opened the horizon to explore different assistive tasks in out-of-lab scenarios.

Keywords

Kinematic Chain Interaction Torque Linear Guide Harmonic Drive Actuation Unit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    Ferrucci, L., Giallauria, F., Guralnik, J.M.: Epidemiology of aging. Radiol. Clin. North Am. 46(4), 643–652 (2008)CrossRefGoogle Scholar
  2. 2.
    Yan, T., Cempini, M., Oddo, C.M., Vitiello, N.: Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Robot. Auton. Syst. 64, 120–136 (2014)CrossRefGoogle Scholar
  3. 3.
    Tucker, M.R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O.: Control strategies for active lower extremity prosthetics and orthotics: a review control strategies for active lower extremity prosthetics and orthotics: a review. J. NeuroEng. Rehabil. 12 (1) (2015)Google Scholar
  4. 4.
    Jang, J., Kim, K., Lee, J., Lim, B., Shim, Y.: Online gait task recognition algorithm for hip exoskeleton. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5327–5332, Hamburg (2015)Google Scholar
  5. 5.
    Giovacchini, F., Vannetti, F., Fantozzi, M., Cempini, M., Cortese, M., Parri, A., Yan, T., Lefeber, D., Vitiello, N.: A light-weight active orthosis for hip movement assistance. Robot. Auton. Syst. September 2014Google Scholar
  6. 6.
    Pratt, G.A., Williamson, M.M.: Series elastic actuators. In: Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, vol. 1, pp. 399–406 (1995)Google Scholar
  7. 7.
    Vitiello, N., Giovacchini, F., Cempini, M., Fantozzi, M., Moisè, M., Muscolo, M., Cortese, M.: Sistema di attuazione per ortesi di anca. Application No. FI2015A000025 (Italian Patent), Application Date: 9 February 2015. Pending for acceptanceGoogle Scholar
  8. 8.
    Garate, V.R., Parri, A., Yan, T., Munih, M., Lova, R.M., Vitiello, N., Ronsse, R.: Walking assistance using artificial primitives. IEEE Robot. Autom. Mag. 23(1), 83–95 (2016)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Andrea Parri
    • 1
    Email author
  • Tingfang Yan
    • 1
  • Francesco Giovacchini
    • 1
  • Mario Cortese
    • 1
  • Marco Muscolo
    • 1
  • Matteo Fantozzi
    • 1
  • Raffaele Molino Lova
    • 2
  • Nicola Vitiello
    • 1
    • 2
  1. 1.The BioRobotics Institute, Scuola Superiore Sant’Anna di PisaPisaItaly
  2. 2.Fondazione Don Carlo GnocchiFlorenceItaly

Personalised recommendations