Design of a wearable orthosis for applying controlled dissipative loads to the lower limbs

William K. Durfee, Michael Goldfarb

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

A wearable orthosis that can apply controlled, dissipative loads to the lower limbs is described. Through computer control of the dissipative loads, the device is capable of regulating limb trajectories and of emulating dissipative mechanical environments. The orthosis covers the left and right hip and knee joints allowing hip flexion-extension and abduction-adduction, and knee flexion-extension motions. The hip and knee flexion-extension joints are coupled to magnetic particle brakes which can apply resistive torques. Torque and position sensors measure joint properties and the system is under computer control. The orthosis was designed for applications of restoring gait to individuals with paraplegia due to spinal cord injury by electrical stimulation of muscles, but can also be used in teleoperator and virtual environment systems.

Original languageEnglish (US)
Title of host publicationAdvances in Robotics, Mechatronics and Haptic Interfaces
EditorsJeffery L. Stein
PublisherPubl by ASME
Pages11-14
Number of pages4
ISBN (Print)0791810194
StatePublished - Dec 1 1993
EventProceedings of the 1993 ASME Winter Annual Meeting - New Orleans, LA, USA
Duration: Nov 28 1993Dec 3 1993

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume49

Other

OtherProceedings of the 1993 ASME Winter Annual Meeting
CityNew Orleans, LA, USA
Period11/28/9312/3/93

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Durfee, W. K., & Goldfarb, M. (1993). Design of a wearable orthosis for applying controlled dissipative loads to the lower limbs. In J. L. Stein (Ed.), Advances in Robotics, Mechatronics and Haptic Interfaces (pp. 11-14). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 49). Publ by ASME.