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Robotic Modeling of Paraplegic Locomotion to Improve the Gait Efficiency Using Modified Motion Pattern and Orthotics Design

Abdolshah, Saeed | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43276 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. Walking on legs using orthosis for spinal cord injury patients has many advantages and decreases the physiological and psychological problems comparing with wheelchair application, however high energy consumption and early exhaustion of patients are disadvantages of orthosis usage. The most important group of orthosis for spinal cord injury patients is RGO (Reciprocating Gait Orhtosis) which a reciprocating cable mechanism links two hip joints motion. So swinging of mobile leg gets easier and stability of patient in standing and walking step increases. Regarding to existent reports about high energy consumption in walking by orthosis, this project has been fulfilled to design an improved orthosis with lower energy consumption. In this research, different conditions of spinal cord injury patients have been investigated and a robotics model was designed considering constraints of a paralyzed subject. The model was designed in MSC Visual Nastran Desktop and different body sizes and weights were implemented on the model based on subject's characteristics. Then experimental data were investigated and analyzed and kinematics functions of each DOF were extracted via a regression. Kinematic functions of motion were inserted into the software as input and kinetic functions of motion were extracted. In this part, required torques for motion of different parts of body were obtained. In next step, higher efficiency of paraplegia patients in energy consumption was considered. So the energy consumption ratio was decreased via an active mechanism in knee. The mechanism includes a DC motor with pulleys and belts which rotate the knee. Also required calculations for choosing proper parts of this mechanism were implemented and executive suggestions for equipments preparations were offered. In control section, fuzzy logic was used for controlling the designed mechanism. Extracted data from potentiometers on hip and knee and force cell of sole of foot are inputs of this controlling algorithm and the output would be kinematics function of rotation of knee of swinging leg. Finally, summary and conclusion were presented and required suggestions for continuing of this project were offered.

  9. Keywords:
  10. Orthosis ; Torque ; Efficiency ; Paraplegia Locomotion ; Fuzzy Trajectory Design

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