Powered Orthosis Details
- Currently we are working on a mathematical model which
will help us answer the basic question of how we can
recgnoize the intent of the human arm using a force sensor
at the interface between orthosis and the human arm. How
can we use the information, and distinguish it from the
dynamic interaction forces.
- We have conducted an arm movement study, using an arm
support system. The arm support system was fabricated using
porous aluminum and uses the principle of an air bearing to support
the arm. A six-axis force sensor and position sensor are
used to gather data as the user performs certain specified motions.
These motions/actions are designed to obtain information about
the user rate of motion, maximum force capabilities and force
requirements for movements.
- We have developed an anti-gravity mechanism using linear
springs which will provide for gravity compensation for the
full range of motion of the mechanism.
- We have also explored various control schemes on a RT200
robot test bed to be used in the control of the powered orthosis.
From the user forum that was held as part of this project we have the
wish list of users. We also have constant interaction from Physical
Therapist and Physicans, to enable us stay focussed in a design which
will be acceptable.