Towards the control of a powered orthosis for people with muscular dystrophy

T. Rahman; R. Ramanathan; S. Stroud; W. Sample; R. Seliktar; W. Harwin; M. Alexander; M. Scavina

doi:10.1243/0954411011535858

Towards the control of a powered orthosis for people with muscular dystrophy

T. Rahman, R. Ramanathan, S. Stroud, W. Sample, R. Seliktar, W. Harwin, M. Alexander, M. Scavina

Division of Engineering, Business & Computing (Berks)

Research output: Contribution to journal › Article › peer-review

23 Scopus citations

Abstract

The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.

Original language	English (US)
Pages (from-to)	267-274
Number of pages	8
Journal	Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
Volume	215
Issue number	3
DOIs	https://doi.org/10.1243/0954411011535858
State	Published - 2001

All Science Journal Classification (ASJC) codes

Mechanical Engineering

Access to Document

10.1243/0954411011535858

Cite this

@article{12a7d9adf99a4defa34170c2f82cd421,

title = "Towards the control of a powered orthosis for people with muscular dystrophy",

abstract = "The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.",

author = "T. Rahman and R. Ramanathan and S. Stroud and W. Sample and R. Seliktar and W. Harwin and M. Alexander and M. Scavina",

year = "2001",

doi = "10.1243/0954411011535858",

language = "English (US)",

volume = "215",

pages = "267--274",

journal = "Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine",

issn = "0954-4119",

publisher = "SAGE Publications Ltd",

number = "3",

}

TY - JOUR

T1 - Towards the control of a powered orthosis for people with muscular dystrophy

AU - Rahman, T.

AU - Ramanathan, R.

AU - Stroud, S.

AU - Sample, W.

AU - Seliktar, R.

AU - Harwin, W.

AU - Alexander, M.

AU - Scavina, M.

PY - 2001

Y1 - 2001

N2 - The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.

AB - The paper describes the development of a passive/active orthosis for people with limited anti-gravity strength in their arms. This is symptomatic of conditions such as muscular dystrophy and spinal muscular atrophy. A passive orthosis was designed and developed using linear elastic elements. The system is being tested with children with disabilities and preliminary results are encouraging. An RT200 robot was also used as a test-bed for an active orthosis. The robot was instrumented with a six-axis force/torque sensor at the end-effector. The force acted as the input to the robot. The robot kinematics and dynamics were modelled. A number of control schemes were implemented on the test-bed including force proportional to velocity and acceleration; these schemes were evaluated with two subjects.

UR - http://www.scopus.com/inward/record.url?scp=0035736008&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035736008&partnerID=8YFLogxK

U2 - 10.1243/0954411011535858

DO - 10.1243/0954411011535858

M3 - Article

C2 - 11436269

AN - SCOPUS:0035736008

SN - 0954-4119

VL - 215

SP - 267

EP - 274

JO - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine

JF - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine

IS - 3

ER -

Towards the control of a powered orthosis for people with muscular dystrophy

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this