Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Allemand, Y. Stauffer, Y. Clavel, R. Brodard, R. |
| Copyright Year | 2009 |
| Description | Author affiliation: Swiss Foundation for Cyberthosis, CH-1870 Monthey, Switzerland (Allemand, Y.; Brodard, R.) || EPFL, Laboratoire de Systèmes Robotiques, CH-1015 Lausanne, Switzerland (Stauffer, Y.; Clavel, R.) |
| Abstract | A new set of lower limb orthoses was developed for the WalkTrainer project. This mobile reeducation device for paralyzed people allows overground gait training combining closed loop electrical muscle stimulation and lower limb guiding while walking. An active body weight support system offers precise body weight unloading during locomotion. A 6 DOF parallel robot moves the pelvis in any desired position and orientation. The lower extremity orthosis is composed of two key parts. First, a purely passive lightweight exoskeleton acts as the interface between the human leg and the machine. A 1 DOF knee orthotic joint is also designed to prevent hyperextension. Second, the active part - composed of a mechanical leg equipped with motors and sensors - is located behind each human leg, with its base fixed to the WalkTrainer base frame. The two kinematic chains are connected with appropriate linkages at the thigh and the ankle joint. Actuation of the hip, knee and ankle joints is thus provided for their flexion/extension axis. The active mechanism operates only within the sagittal plane and guides the ankle-foot subsystem. Thigh and shank add/abduction movements are possible and even essential since the pelvis moves in a 3D space. This achievement prevents the scissors effect while allowing natural walking motion at the other joints. This paper describes the design and development of the lower extremity orthosis. Starting from a biomechanical approach, the needed actuation and the mechanical structure are discussed as well as the interface between the patient and the robot. |
| Starting Page | 550 |
| Ending Page | 555 |
| File Size | 1792631 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424437887 |
| ISSN | 19457898 |
| DOI | 10.1109/ICORR.2009.5209585 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-23 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Knee rehabilitation robotics Humans Thigh Muscles WalkTrainer Lower extremity Pelvis gait training orthosis Leg Parallel robots exoskeleton Orthotics Extremities |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|