The dynamic simulation of incomplete spinal cord in-jured individuals equipped with active orthoses is a challenging problem due to the redundancy of the simu-ltaneous human-orthosis actuation. The objective of this work is two-fold. Firstly, a physiological static optimization approach to solve the muscle-orthosis actuation sharing problem is presented. For this pur-pose, a biomechanical model based on multibody dynamics techniques is used. The muscles are modeled as Hill-type actuators and the atrophy of denervated muscles is considered by adding stiff and dissipative elements. Secondly, the mechanical design of a new active stance-control knee-ankle-foot orthosis (A- CKAFO) is addressed. The proposed device consists of a passive joint that constrains ankle plantar fle-xion, along with a powered knee unit that prevents flexion during stance and controls flexion-extension du-ring swing. The knee actuation is selected based on the results obtained through the optimization ap-proach.

Категория: Научные статьи | Нет комментариев »

Комментарии