Skip to main content
SpringerLink
Log in

Joint motion control of a powered lower limb orthosis for rehabilitation

  • Published:
International Journal of Automation and Computing Aims and scope Submit manuscript

Abstract

Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that locomotor training reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design and control of a new “human friendly” orthosis (exoskeleton), powered by high power pneumatic Muscle Actuators (pMAs). The combination of a highly compliant actuation system, with an intelligent embedded control mechanism which senses hip, knee, and ankle positions, velocity, acceleration and force, produces powerful yet inherently safe operation for paraplegic patients. This paper analyzes the motion of ankle, knee, and hip joints under zero loading, and loads which simulate human limb mass, showing that the use of “soft” actuators can provide a smooth user friendly motion. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Audit Commission, Audit Commission Update, Fully Equipped 2002 assisting independence. Audit Commission for Local Authorities and the National Heath Service in England and Wales. London ISBN 1862403678, 2002.

  2. R. Waters, B. Lunsford. Energy Cost of Paraplegic Locomotion. Journal of Bone Joint Surgery Am, vol. 67, no. 8, pp. 1245–1250, 1995.

    Google Scholar 

  3. K. R. Kaufman, S. E. Irby, J. W. Mathewson, R. W. Wirta, D. H. Sutherland. Energy-Efficient Knee-Ankle-Foot Orthosis: a Case Study. Journal of Prosthetics and Orthotics, vol. 8, no. 3, pp. 79–85, 1996.

    Google Scholar 

  4. M. Muccio, B. Andrews, E. Marsolais. Electronic Orthoses: Technology, Prototypes and Practices. American Academy of Orthotists and Prosthetists, vol. 1 no. 1, pp. 3–17, 1989.

    Google Scholar 

  5. J. Clinkingbeard, J. Gersten, D. Hoehn. Energy Cost of Ambulation in Traumatic Paraplegia. American Journal Physics and Medicine, vol. 43, pp. 157–165, 1964.

    Google Scholar 

  6. E. Marsolais, R. Kobetic. Functional Electrical Stimulation for Walking in Paraplegia. Journal of Bone Joint Surgery, vol. 69-A, pp. 728–733, 1995.

    Google Scholar 

  7. H. F. M Van der Loos. Rehabilitation Mechatronic Therapy Devices. In Proceedings of Workshop on Biomedical Robotics and Biomechatronics, International Conference on Robotics and Automation 2004, New Orleans, April 2004.

  8. G. Belforte, L. Gastaldi, M. Sorli. Pneumatic Active Gait Orthosis. Mechatronics, vol. 11, pp. 310–323, 2001.

    Article  Google Scholar 

  9. P. J. Greene, M. Granat. A Knee and Ankle Flexing Hybrid Orthosis for Paraplegic Ambulation. Medical Engineering & Physics, vol. 25, no. 7, pp. 539–545, 2003.

    Article  Google Scholar 

  10. R. Harrison, E. Lamaire, Y. Jeffreys, L. Goudreau. Design and Pilot Testing of an Orthotic Stance-Phase Control Knee Joint. Orthopadie-Technik, vol. 111, pp. 2–4, 2001.

    Google Scholar 

  11. H. F. M. Van der Loos. Rehabilitation Mechatronic Therapy Devices. In Proceedings of Workshop on Biomedical Robotics and Biomechatronics, International Conference on Robotics and Automation 2004, New Orleans, 2004.

  12. T. Suga, O. Kameyama, R. Ogawa, M. Matsuura, H. Oka. Newly Designed Computer Controlled Knee-Ankle-Foot Orthosis (Intelligent Orthosis). Prosthetics and Orthotics International, vol. 22, no. 3, pp. 230–239, 1998.

    Google Scholar 

  13. E. Saitoh, T. Suzuki, S. Sonoda, J. Fujitani, Y. Tomita, N. Chino. Clinical Experience with a New Hip-Knee-Ankle-Foot Orthotic System Using a Medial Single Hip Joint for Paraplegic Standing and Walking. American Journal Physics Medical Rehabilitation, vol. 75, no. 3, pp. 98–203, 1996.

    Google Scholar 

  14. E. Genda, K. Oota, Y. Suzuki. A New Walking Orthosis for Paraplegics: Hip and Ankle Linkage System. Prosthetics & Orthotics International, vol. 28, no. 1, pp. 69–74, 2004.

    Google Scholar 

  15. D. Ferris. An Improved Ankle Foot Orthosis Powered by Pneumatic Muscles. In Proceedings of International Society of Biomechanics XIXTH Congress The Human Body in Locomotion, Auckland, New Zealand, 2003.

  16. S. Hawran, F. Biering-Sorensen. The Use of Long Leg Callipers for Paraplegic Patients: a Follow-up Study of Patients Discharged 1973–1982. Spinal Cord, vol. 34, no. 11, pp. 666–668, 1996.

    Google Scholar 

  17. O. Khatib. A New Actuation Approach for Human Friendly Robot Design. In Proceedings of 3rd International Advanced Robotics Programme (IARP) Workshop on Dependable Robots in Human Environments, Manchester, England, Sept. 2004.

  18. Davis, N. Tsagarakis, J. Canderle, D. G. Caldwell. Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators. International Journal of Robotics Research, vol. 22, no. 3–4, pp. 213–227, 2003.

    Google Scholar 

  19. N. Tsagarakis. Integrated Haptic Interface: Tactile and Force Feedback for Improved Realism in VR and Telepresence Application. Ph.D dissertation, University of Salford, 2000.

  20. D. Caldwell, D. Medrano-Cerda, M. Goodwin. Control of Pneumatic Muscle Actuators. IEEE Control Systems Magazine, vol. 15, no. 1, pp. 40–48, 1995.

    Article  Google Scholar 

  21. Human Engineering Guide to Equipment Design. American Institutes for Research, Washington D.C. 1972

  22. Matlab 7.0 (R14), The Mathworks Inc, 2005.

  23. A. V. Oppenheim, R. W. Schafer. Discrete-Time Signal Processing. Prentice-Hall, NJ, USA, pp. 453, 1989.

    MATH  Google Scholar 

  24. Selected Papers in Digital Signal Processing II. IEEE Press, New York, 1975.

  25. J. F. Kaiser. Nonrecursive Digital Filter Design Using the — Sinh Window Function. In Proceedings of 1974 IEEE Symposium Circuits and Systems, pp. 20–23, 1974.

Download references

Author information

Authors and Affiliations

  1. Centre for Robotics and Automation, University of Salford, Manchester, M5 4WT, UK

    Nelson Costa, Milan Bezdicek, Michael Brown, John O. Gray & Darwin G. Caldwell

  2. Directorate for Prosthetics and Orthotics, University of Salford, Manchester, M5 4WT, UK

    Stephen Hutchins

Authors
  1. Nelson Costa
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Milan Bezdicek
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Michael Brown
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. John O. Gray
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Darwin G. Caldwell
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Stephen Hutchins
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Darwin G. Caldwell.

Additional information

Nelson Costa received his B.Sc degree in Computer and Electronic Engineering in 1995 and his M.Sc in Robotic Systems and Automation in 1999, both at the University of Coimbra, Portugal. He is currently pursuing his Ph.D. in Advanced Robotics at the University of Salford, Greater Manchester, UK.

His research interests include sensors, actuators, power sources, force augmentation exoskeletons, rehabilitation robotics and haptic feedback systems.

Milan Bezdicek received his M.Sc in Mechatronics from Brno University of Technology in Czech Republic in 2003. He is currently Ph.D. student of Robotics and haptics at the University of Salford, UK.

His research interests include biomechanics, electronics, computer controlled machining, artificial neural networks, haptics, DSP, smart sensors and structure analyzing.

John O. Gray obtained his Ph.D. and D.Sc degrees from the University Manchester in control engineering and his early work focussed on aspects of non linear control systems, C.A.D procedures and precision electromagnetic instrumentation. In 1988 with academic and industrial colleagues he established the U.Ks National Advanced Robotics Research Centre. In the 1990s he organised a series of EC.sponsored conferences on advanced robotics and more recently (2001–2005) chaired EPSRC and IEE networks on advanced robotics.

Darwin G. Caldwell received his B.Sc and Ph.D. in Robotics from the University of Hull in 1986 and 1990 respectively. In 1994 in received a M.Sc in Management. Since 1999 he has been Chair of Advanced Robotics in the Centre for Robotics and Automation at the University of Salford.

He is the author or co-author of over 150 academic papers and has 4 patents. His research interests include innovative actuators and sensors, haptic feedback, force augmentation exoskeletons, dexterous manipulators, humanoid robotics, biomimetic systems, rehabilitation robotics and robotic systems for the food industry.

Prof. Caldwell is currently chair of the UKRI region of the IEEE (Robotics and Automation Society).

Stephen Hutchins is Senior Lecturer in Orthotics at the University of Salford and a registered orthotist with HPC having graduated as an orthotist in 1978. He obtained an M.Sc in Orthotics by research in 1997 for the design of prototype orthotic knee joints to be used in prophylactic knee bracing. He is currently pursuing his Ph.D. on the subject of rocker sole development in the treatment of intermittent claudication.

He has a number of UK patents on orthotic knee joint design. His research interests include all aspects of lower limb orthotics and footwear design.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Costa, N., Bezdicek, M., Brown, M. et al. Joint motion control of a powered lower limb orthosis for rehabilitation. Int J Automat Comput 3, 271–281 (2006). https://doi.org/10.1007/s11633-006-0271-x

Download citation

  • Received:

  • Revised:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11633-006-0271-x

Keywords

Search

Navigation