Journal article
Towards the control of a powered orthosis for people with muscular dystrophy
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine, v 215(3), pp 267-274
2001
PMID: 11436269
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.
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Details
- Title
- Towards the control of a powered orthosis for people with muscular dystrophy
- Creators
- T Rahman - Alfred I. duPont Hospital for ChildrenR Ramanathan - University of PennsylvaniaS Stroud - Alfred I. duPont Hospital for ChildrenW Sample - Alfred I. duPont Hospital for ChildrenR Seliktar - Drexel UniversityW Harwin - University of ReadingM Alexander - Alfred I. duPont Hospital for ChildrenM Scavina - Alfred I. duPont Hospital for Children
- Publication Details
- Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine, v 215(3), pp 267-274
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; [Retired Faculty]
- Web of Science ID
- WOS:000169768900002
- Scopus ID
- 2-s2.0-0035736008
- Other Identifier
- 991019167999304721
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Engineering, Biomedical