Modeling and Design of an Active Leg Orthosis for Tumble Protection
The design of an active leg orthosis for tumble
protection is proposed in this paper. The orthosis would be applied to
assist elders or invalids in rebalancing while they fall unexpectedly.
We observe the regain balance motion of healthy and youthful people,
and find the difference to elders or invalids. First, the physical model
of leg would be established, and we consider the leg motions are
achieve through four joints (phalanx stem, ankle, knee, and hip joint)
and five links (phalanges, talus, tibia, femur, and hip bone). To
formulate the dynamic equations, the coordinates which can clearly
describe the position in 3D space are first defined accordance with the
human movement of leg, and the kinematics and dynamics of the leg
movement can be formulated based on the robotics. For the purpose,
assisting elders and invalids in avoiding tumble, the posture variation
of unbalance and regaining balance motion are recorded by the
motion-capture image system, and the trajectory is taken as the desire
one. Then we calculate the force and moment of each joint based on
the leg motion model through programming MATLAB code. The
results would be primary information of the active leg orthosis design
for tumble protection.
[1] D. G. Thelen, L. A. Wojcik, J. A. Ashton-Miller , and N. B. Alexander,
"Effects of Age on The Ability to Recover from A Forward Fall," ASME
Bioengineering Division BED, vol. 29, 1995, pp. 293-294.
[2] L. A. Wojcik, D. G. Thelen, J. A. Ashton-Miller, A. B. Schultz, and N. B.
Alexander, "Effects of age on joint torques used to recover from a forward
fall," ASME Bioengineering Division BED, vol. 33, 1996, pp. 125-126.
[3] L. A. Wojcik, A. B. Schultz, and J. A. Ashton-Miller, "Biomechanical
Model Analysis of Older Females' Reduced Ability to Regain Balance
After A Forward Fall," ASME Bioengineering Division BED, vol. 35,
1997, pp. 453-454.
[4] K.-J. Kim, A. B. Schultz, J. A. Ashton-Miller, and N. B. Alexander,
"Impact Characteristics of An Outstretched Arm When Arresting a
Forward Fall," ASME Bioengineering Division BED, vol. 35, 1997, pp.
331-332.
[5] C. Cao, A. B. Schultz, J. A. Ashton-Miller, and N. B. Alexander, "Age
and Gender Differences in Sudden Stops and Turns While Walking,"
ASME Bioengineering Division BED, vol. 35, 1997, pp. 451-452.
[6] L. A. Wojcik, D. G. Thelen, A. B. Schultz, J. A. Ashton-Miller, and N. B.
Alexander, "Age and Gender Differences in Peak Lower Extremity Joint
Torques and Ranges of Motion Used During Single-step Balance
Recovery From A Forward fall," Journal of Biomechanics, vol. 34, no. 1,
2001, pp. 67-73.
[7] K. M. DeGoede and J. A. Ashton-Miller, "Biomechanical Simulations of
Forward Fall Arrests: Effects of Upper Extremity Arrest Strategy, Gender
and Aging-related Declines in Muscle Strength," Journal of
Biomechanics, vol. 36, no. 3, 2003, p 413-420.
[8] K.-J. Kim and J. A. Ashton-Miller, "Biomechanics of Fall Arrest Using
the Upper Extremity: Age Differences," Clinical Biomechanics, vol. 18,
no. 4, 2003, pp. 311-318.
[9] T. J. Withrow, L. J. Huston, E. M. Wojtys, and J. A. Ashton-Miller, "The
effect of an Impulsive Knee Valgus Moment on in Vitro Relative ACL
Strain During A Simulated Jump Landing," Clinical Biomechanics, vol.
21, no. 9, 2006, pp. 977-983.
[10] B. W. Schulz, J. A. Ashton-Miller, and N. B. Alexander, "Maximum Step
Length: Relationships to Age and Knee and Hip Extensor Capacities,"
Clinical Biomechanics, vol. 22, no. 6, 2007, pp. 689-696.
[11] J. H. Lo and J. A. Ashton-Miller, "Effect of Upper and Lower Extremity
Control Strategies on Predicted Injury Risk During Simulated Forward
Falls: A Study in Healthy Young Adults," Journal of Biomechanical
Engineering, vol. 130, no. 4, 2008.
[12] B. W. Schulz, J. A. Ashton-Miller, and N. B. Alexander, "The Effects of
Age and Step Length on Joint Kinematics and Kinetics of Large
Out-and-back Steps," Clinical Biomechanics, vol. 23, no. 5, 2008, pp.
609-618.
[13] J. K. Richardson, S. Thies, and J. A. Ashton-Miller, "An Exploration of
Step Time Variability on Smooth and Irregular Surfaces in Older Persons
with Neuropathy," Clinical Biomechanics, vol. 23, no. 3, 2008, pp.
349-356.
[14] K.-J. Kim and J. A. Ashton-miller, "Segmental Dynamics of Forward Fall
Arrests: A System Identification Approach," Clinical Biomechanics, vol.
24, no. 4, 2009, pp. 348-354.
[15] B.-S. Yang and J. A. Ashton-Miller, "Effect of Practice on Stepping
Movements onto Laterally Compliant Raised Structures: Age Differences
in Healthy Males," Human Factors, vol. 52, no. 1, 2010, pp. 3-16.
[16] S. K. Agrawal, G. Gardner and S. Pledgie, "Design and Fabrication of An
Active Gravity Balanced Planar Mechanism Using Auxiliary
Parallelograms," Journal of Mechanical Design, vol. 123, 2001, pp.
525-528.
[17] S. K. Agrawal and A. Fattah, "Theory and Design of an Orthotic Device
for Full or Partial Gravity-Balancing of a Human Leg During Motion,"
IEEE Transactions on Neural Systems and Rehabilitation Engineering,
vol. 12, no. 2, 2004, pp. 157-165.
[18] A. Agrawal and S. K. Agrawal, "Design of Gravity Balancing Leg
Orthosis Using Non-zero Free Length Springs," Mechanism and Machine
Theory, vol. 40, no. 6, 2005, pp. 693-709.
[19] A. Fattah and S. K. Agrawal, "On the Design of A Passive Orthosis to
Gravity Balance Human Legs," Journal of Mechanical Design,
Transactions of the ASME, vol. 127, no. 4, 2005, pp. 802-808.
[20] S. K. Banala, S. K. Agrawal, A. Fattah, V. Krishnamoorthy, W.-L. Hsu, J.
Scholz, and K. Rudolph, "Gravity-balancing Leg Orthosis and Its
Performance Evaluation," IEEE Transactions on Robotics, vol. 22, no. 6,
2006, pp. 1228-1239.
[21] S. K. Banala, S. K. Agrawal, S. H. Kim, and J. P. Scholz, "Novel Gait
Adaptation and Neuromotor Training Results Using an Active Leg
Exoskeleton," IEEE/ASME Transactions on Mechatronics, vol. 15, no. 2,
2010, pp. 216-225.
[22] T. Yakimovich, J. Kofman, and E. D. Lemaire, "Design and Evaluation of
A Stance-Control Knee-Ankle-Foot Orthosis Knee Joint," IEEE
Transactions on Neural Systems and Rehabilitation Engineering, vol. 14,
no. 3, 2006, pp. 361-369.
[23] B. V. Hunter, D. G. Thelen, Y. Y. Dhaher, "A Three-Dimensional
Biomechanical Evaluation of Quadriceps and Hamstrings Function Using
Electrical Stimulation," IEEE Transactions on Neural Systems and
Rehabilitation Engineering, vol. 17, no. 2, 2009.
[24] H. Kawamoto, T. Hayashi, T. Sakurai, K. Eguchi, Y. Sankai,
"Development of Single Leg Version of HAL for Hemiplegia," 31st
Annual International Conference of the IEEE EMBS Minneapolis, 2009,
pp. 5038-5043.
[25] H. Kawamoto, S. Taal, H. Niniss, T. Hayashi, K. Kamibayashi, K. Eguchi,
Y. Sankai, "Voluntary Motion Support Control of Robot Suit HAL
Triggered by Bioelectrical Signal for Hemiplegia," 32nd Annual
International Conference of the IEEE EMBS Buenos Aires, 2010.
[1] D. G. Thelen, L. A. Wojcik, J. A. Ashton-Miller , and N. B. Alexander,
"Effects of Age on The Ability to Recover from A Forward Fall," ASME
Bioengineering Division BED, vol. 29, 1995, pp. 293-294.
[2] L. A. Wojcik, D. G. Thelen, J. A. Ashton-Miller, A. B. Schultz, and N. B.
Alexander, "Effects of age on joint torques used to recover from a forward
fall," ASME Bioengineering Division BED, vol. 33, 1996, pp. 125-126.
[3] L. A. Wojcik, A. B. Schultz, and J. A. Ashton-Miller, "Biomechanical
Model Analysis of Older Females' Reduced Ability to Regain Balance
After A Forward Fall," ASME Bioengineering Division BED, vol. 35,
1997, pp. 453-454.
[4] K.-J. Kim, A. B. Schultz, J. A. Ashton-Miller, and N. B. Alexander,
"Impact Characteristics of An Outstretched Arm When Arresting a
Forward Fall," ASME Bioengineering Division BED, vol. 35, 1997, pp.
331-332.
[5] C. Cao, A. B. Schultz, J. A. Ashton-Miller, and N. B. Alexander, "Age
and Gender Differences in Sudden Stops and Turns While Walking,"
ASME Bioengineering Division BED, vol. 35, 1997, pp. 451-452.
[6] L. A. Wojcik, D. G. Thelen, A. B. Schultz, J. A. Ashton-Miller, and N. B.
Alexander, "Age and Gender Differences in Peak Lower Extremity Joint
Torques and Ranges of Motion Used During Single-step Balance
Recovery From A Forward fall," Journal of Biomechanics, vol. 34, no. 1,
2001, pp. 67-73.
[7] K. M. DeGoede and J. A. Ashton-Miller, "Biomechanical Simulations of
Forward Fall Arrests: Effects of Upper Extremity Arrest Strategy, Gender
and Aging-related Declines in Muscle Strength," Journal of
Biomechanics, vol. 36, no. 3, 2003, p 413-420.
[8] K.-J. Kim and J. A. Ashton-Miller, "Biomechanics of Fall Arrest Using
the Upper Extremity: Age Differences," Clinical Biomechanics, vol. 18,
no. 4, 2003, pp. 311-318.
[9] T. J. Withrow, L. J. Huston, E. M. Wojtys, and J. A. Ashton-Miller, "The
effect of an Impulsive Knee Valgus Moment on in Vitro Relative ACL
Strain During A Simulated Jump Landing," Clinical Biomechanics, vol.
21, no. 9, 2006, pp. 977-983.
[10] B. W. Schulz, J. A. Ashton-Miller, and N. B. Alexander, "Maximum Step
Length: Relationships to Age and Knee and Hip Extensor Capacities,"
Clinical Biomechanics, vol. 22, no. 6, 2007, pp. 689-696.
[11] J. H. Lo and J. A. Ashton-Miller, "Effect of Upper and Lower Extremity
Control Strategies on Predicted Injury Risk During Simulated Forward
Falls: A Study in Healthy Young Adults," Journal of Biomechanical
Engineering, vol. 130, no. 4, 2008.
[12] B. W. Schulz, J. A. Ashton-Miller, and N. B. Alexander, "The Effects of
Age and Step Length on Joint Kinematics and Kinetics of Large
Out-and-back Steps," Clinical Biomechanics, vol. 23, no. 5, 2008, pp.
609-618.
[13] J. K. Richardson, S. Thies, and J. A. Ashton-Miller, "An Exploration of
Step Time Variability on Smooth and Irregular Surfaces in Older Persons
with Neuropathy," Clinical Biomechanics, vol. 23, no. 3, 2008, pp.
349-356.
[14] K.-J. Kim and J. A. Ashton-miller, "Segmental Dynamics of Forward Fall
Arrests: A System Identification Approach," Clinical Biomechanics, vol.
24, no. 4, 2009, pp. 348-354.
[15] B.-S. Yang and J. A. Ashton-Miller, "Effect of Practice on Stepping
Movements onto Laterally Compliant Raised Structures: Age Differences
in Healthy Males," Human Factors, vol. 52, no. 1, 2010, pp. 3-16.
[16] S. K. Agrawal, G. Gardner and S. Pledgie, "Design and Fabrication of An
Active Gravity Balanced Planar Mechanism Using Auxiliary
Parallelograms," Journal of Mechanical Design, vol. 123, 2001, pp.
525-528.
[17] S. K. Agrawal and A. Fattah, "Theory and Design of an Orthotic Device
for Full or Partial Gravity-Balancing of a Human Leg During Motion,"
IEEE Transactions on Neural Systems and Rehabilitation Engineering,
vol. 12, no. 2, 2004, pp. 157-165.
[18] A. Agrawal and S. K. Agrawal, "Design of Gravity Balancing Leg
Orthosis Using Non-zero Free Length Springs," Mechanism and Machine
Theory, vol. 40, no. 6, 2005, pp. 693-709.
[19] A. Fattah and S. K. Agrawal, "On the Design of A Passive Orthosis to
Gravity Balance Human Legs," Journal of Mechanical Design,
Transactions of the ASME, vol. 127, no. 4, 2005, pp. 802-808.
[20] S. K. Banala, S. K. Agrawal, A. Fattah, V. Krishnamoorthy, W.-L. Hsu, J.
Scholz, and K. Rudolph, "Gravity-balancing Leg Orthosis and Its
Performance Evaluation," IEEE Transactions on Robotics, vol. 22, no. 6,
2006, pp. 1228-1239.
[21] S. K. Banala, S. K. Agrawal, S. H. Kim, and J. P. Scholz, "Novel Gait
Adaptation and Neuromotor Training Results Using an Active Leg
Exoskeleton," IEEE/ASME Transactions on Mechatronics, vol. 15, no. 2,
2010, pp. 216-225.
[22] T. Yakimovich, J. Kofman, and E. D. Lemaire, "Design and Evaluation of
A Stance-Control Knee-Ankle-Foot Orthosis Knee Joint," IEEE
Transactions on Neural Systems and Rehabilitation Engineering, vol. 14,
no. 3, 2006, pp. 361-369.
[23] B. V. Hunter, D. G. Thelen, Y. Y. Dhaher, "A Three-Dimensional
Biomechanical Evaluation of Quadriceps and Hamstrings Function Using
Electrical Stimulation," IEEE Transactions on Neural Systems and
Rehabilitation Engineering, vol. 17, no. 2, 2009.
[24] H. Kawamoto, T. Hayashi, T. Sakurai, K. Eguchi, Y. Sankai,
"Development of Single Leg Version of HAL for Hemiplegia," 31st
Annual International Conference of the IEEE EMBS Minneapolis, 2009,
pp. 5038-5043.
[25] H. Kawamoto, S. Taal, H. Niniss, T. Hayashi, K. Kamibayashi, K. Eguchi,
Y. Sankai, "Voluntary Motion Support Control of Robot Suit HAL
Triggered by Bioelectrical Signal for Hemiplegia," 32nd Annual
International Conference of the IEEE EMBS Buenos Aires, 2010.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:56940", author = "Eileen Chih-Ying Yang and Liang-Han Wu and Chieh-Min Chang", title = "Modeling and Design of an Active Leg Orthosis for Tumble Protection", abstract = "The design of an active leg orthosis for tumble
protection is proposed in this paper. The orthosis would be applied to
assist elders or invalids in rebalancing while they fall unexpectedly.
We observe the regain balance motion of healthy and youthful people,
and find the difference to elders or invalids. First, the physical model
of leg would be established, and we consider the leg motions are
achieve through four joints (phalanx stem, ankle, knee, and hip joint)
and five links (phalanges, talus, tibia, femur, and hip bone). To
formulate the dynamic equations, the coordinates which can clearly
describe the position in 3D space are first defined accordance with the
human movement of leg, and the kinematics and dynamics of the leg
movement can be formulated based on the robotics. For the purpose,
assisting elders and invalids in avoiding tumble, the posture variation
of unbalance and regaining balance motion are recorded by the
motion-capture image system, and the trajectory is taken as the desire
one. Then we calculate the force and moment of each joint based on
the leg motion model through programming MATLAB code. The
results would be primary information of the active leg orthosis design
for tumble protection.", keywords = "Active leg orthosis, Tumble protection", volume = "5", number = "10", pages = "1989-6", }
