A POWERED HIP ORTHOSIS - AN INTEGRATED SYSTEMS APPROACH

摘要

This paper describes a project that applies intelligent control to an electrically powered orthosis to assist the gait restoration of paraplegic subjects. This device uses a modified Reciprocating Gait Orthosis to which are attached two electrical actuators providing power at the hip joints. Control of the device will be achieved using an adaptive control scheme implemented upon a small network of microcontrollers integrated with the modified device, where these handle the motor control, coordination and user/patient input. The principal design features of the powered orthosis are presented in detail and anticipated future control requirements are discussed.