A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-04-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.645588/full |
| _version_ | 1818728250909655040 |
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| author | Mark Nandor Rudi Kobetic Musa Audu Musa Audu Ron Triolo Ron Triolo Roger Quinn Roger Quinn |
| author_facet | Mark Nandor Rudi Kobetic Musa Audu Musa Audu Ron Triolo Ron Triolo Roger Quinn Roger Quinn |
| author_sort | Mark Nandor |
| collection | DOAJ |
| description | The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset. |
| first_indexed | 2024-12-17T22:27:01Z |
| format | Article |
| id | doaj.art-11a48a5b6c1a45fb8c848795330d4798 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-17T22:27:01Z |
| publishDate | 2021-04-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-11a48a5b6c1a45fb8c848795330d47982022-12-21T21:30:19ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-04-01810.3389/frobt.2021.645588645588A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord InjuryMark Nandor0Rudi Kobetic1Musa Audu2Musa Audu3Ron Triolo4Ron Triolo5Roger Quinn6Roger Quinn7Department of Mechanical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Louis Stokes VA Medical Center, Cleveland, OH, United StatesAdvanced Platform Technology Center, Louis Stokes VA Medical Center, Cleveland, OH, United StatesDepartment of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Louis Stokes VA Medical Center, Cleveland, OH, United StatesDepartment of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United StatesDepartment of Mechanical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Louis Stokes VA Medical Center, Cleveland, OH, United StatesThe development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset.https://www.frontiersin.org/articles/10.3389/frobt.2021.645588/fullrehabilitationgaitroboticsspinal cord injuryexoskeleton |
| spellingShingle | Mark Nandor Rudi Kobetic Musa Audu Musa Audu Ron Triolo Ron Triolo Roger Quinn Roger Quinn A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury Frontiers in Robotics and AI rehabilitation gait robotics spinal cord injury exoskeleton |
| title | A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury |
| title_full | A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury |
| title_fullStr | A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury |
| title_full_unstemmed | A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury |
| title_short | A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury |
| title_sort | muscle first electromechanical hybrid gait restoration system in people with spinal cord injury |
| topic | rehabilitation gait robotics spinal cord injury exoskeleton |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.645588/full |
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