文档介绍：Mechanism and Machine Theory 44 (2009) 860–872
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Biologically based design of an actuator system
for a knee–ankle–foot orthosis
A. Cullell, . Moreno *, E. Rocon, A. Forner-Cordero, . Pons
Instituto de Automática Industrial, Consejo Superior de Investigaciones Científicas – CSIC, Carretera Campo Real Km 0,200, La Poveda – Arganda del Rey,
Madrid, Spain
article info abstract
Article history: Knee–ankle–foot orthosis are systems used to restore human gait, providing stability dur-
Received 10 October 2007 ing stance phase. A concept of actuator for knee–ankle–foot orthosis was developed based
Received in revised form 1 April 2008 on biomechanical data. The actuator is conceived to provide mechanical means to repro-
Accepted 7 April 2008
duce the normal kinematics during human gait at joint level. Behaviour of the joints of
Available online 19 May 2008
the lower limb was approximated by elastic means and an actuator for each joint was
designed and constructed. The rationale of the design process is presented, considering
the functional aspects and aiming at a lightweight solution with low power demand. Tests
Keywords:
performed with one patient suffering from post-poliomyelitis syndrome are presented and
Actuator
Biomechanics evidence of pensation during stance and swing phases with the proposed
Human gait solution is given.
Knee–ankle–foot orthosis Ó 2008 Elsevier Ltd. All rights reserved.
Rehabilitation
Wearable robot
1. Introduction
Muscular weakness of the lower limb can be the result of different diseases, such as peripheral neurological diseases
(poliomyelitis and post-polio syndrome, spina bifida, poly neuropathy), muscular diseases (duchenne muscular dystrophy
and Becker’s muscular dystrophy, myasthenia gravis), and central neurological diseases (multiple sclerosis, cerebral palsy,
brain injury, cerebrovascular accident, s