Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia

Takuhiro Sunada, Goro Obinata, Yanling Pei

2019

Abstract

This paper describes a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling, and assists swinging of the leg. One servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at the soles for detecting the distance between the feet and floor. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. The system has achieved continuous walking based on the feedback signals from the sensors. This paper reveals the preliminary experimental results of the system to show the good points of the design.

Paper Citation

in Harvard Style

Sunada T., Obinata G. and Pei Y. (2019). Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 504-509. DOI: 10.5220/0007959905040509

in Bibtex Style

@conference{icinco19,
author={Takuhiro Sunada and Goro Obinata and Yanling Pei},
title={Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={504-509},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007959905040509},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia
SN - 978-989-758-380-3
AU - Sunada T.
AU - Obinata G.
AU - Pei Y.
PY - 2019
SP - 504
EP - 509
DO - 10.5220/0007959905040509