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Sit-to-stand and stand-to-sit assistance for paraplegic patients with CUHK-EXO exoskeleton

Published online by Cambridge University Press:  27 November 2017

Bing Chen ,
Chun-Hao Zhong ,
Hao Ma ,
Xiao Guan ,
Lai-Yin Qin ,
Kai-Ming Chan ,
Sheung-Wai Law ,
Ling Qin  and
Wei-Hsin Liao
Bing Chen
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, P.R. China. E-mail: chbing@ort.cuhk.edu.hk Department of Orthopaedics and Traumatology, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: kaimingchan@cuhk.edu.hk, lawsw@ort.cuhk.edu.hk
Chun-Hao Zhong
Affiliation:
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: chzhong@mae.cuhk.edu.hk, mahao.thume@gmail.com, gx.personal@gmail.com
Hao Ma
Affiliation:
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: chzhong@mae.cuhk.edu.hk, mahao.thume@gmail.com, gx.personal@gmail.com
Xiao Guan
Affiliation:
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: chzhong@mae.cuhk.edu.hk, mahao.thume@gmail.com, gx.personal@gmail.com
Lai-Yin Qin
Affiliation:
Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mail: annaqin097@gmail.com
Kai-Ming Chan
Affiliation:
Department of Orthopaedics and Traumatology, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: kaimingchan@cuhk.edu.hk, lawsw@ort.cuhk.edu.hk
Sheung-Wai Law
Affiliation:
Department of Orthopaedics and Traumatology, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: kaimingchan@cuhk.edu.hk, lawsw@ort.cuhk.edu.hk
Ling Qin*
Affiliation:
Department of Orthopaedics and Traumatology, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: kaimingchan@cuhk.edu.hk, lawsw@ort.cuhk.edu.hk
Wei-Hsin Liao*
Affiliation:
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China. E-mails: chzhong@mae.cuhk.edu.hk, mahao.thume@gmail.com, gx.personal@gmail.com
*
*Corresponding authors. E-mails: qin@ort.cuhk.edu.hk, whliao@cuhk.edu.hk
*Corresponding authors. E-mails: qin@ort.cuhk.edu.hk, whliao@cuhk.edu.hk
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Summary

In this paper, we introduce a lower extremity exoskeleton CUHK-EXO that is developed to help paraplegic patients, who have lost the motor and sensory functions of their lower limbs to perform basic daily life motions. Since the sit-to-stand and stand-to-sit (STS) motion is the first step for paraplegic patients toward walking, analysis of the exoskeleton's applicability to the STS motion assistance is performed. First, the human-exoskeleton system (HES) is modeled as a five-link model during the STS motion, and the center of pressure (COP) on the ground and center of gravity of the whole system are calculated. Then, a description of the CUHK-EXO hardware design is presented, including the mechatronics design and actuator selection. The COP position is an important factor indicating system balance and wearer's comfort. Based on the COP position, a trajectory online modification algorithm (TOMA) is proposed for CUHK-EXO to counteract disturbances, stabilize system balance, and improve the wearer's comfort in the STS motion. The results of STS motion tests conducted with a paraplegic patient demonstrate that CUHK-EXO can provide a normal reference pattern and proper assistive torque to support the patient's STS motion. In addition, a pilot study is conducted with a healthy subject to verify the effectiveness of the proposed TOMA under external disturbances before future clinical trials. The testing results verify that CUHK-EXO can counteract disturbances, and help the wearer perform the STS motion safely and comfortably.

Keywords

Lower extremity exoskeletonMotion assistanceSit-to-standStand-to-sitTrajectory generationBalance control
Type
Articles
Information
Robotica , Volume 36 , Issue 4 , April 2018 , pp. 535 - 551
Copyright
Copyright © Cambridge University Press 2017 

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