Title:
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Simulation and design of an active orthosis for an incomplete spinal cord injured subject
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Author:
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Font Llagunes, Josep Maria; Pàmies Vilà, Rosa; Alonso Sánchez, Francisco Javier; Lugrís Armesto, Urbano
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab |
Abstract:
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The dynamic simulation of incomplete spinal cord injured individuals equipped with active orthoses is a challenging problem due to the redundancy of the simultaneous 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 purpose, 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-SCKAFO) is addressed. The proposed device consists of a passive joint that constrains ankle plantar flexion, along with a powered knee unit that prevents flexion during stance and controls flexion-extension during swing. The knee actuation is selected based on the results obtained through the optimization approach. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica -Biomechanics -Active orthosis -Biomechanics -Static optimization -Muscle modeling -Biomecànica |
Rights:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Article - Published version Article |
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