Orthopaedic rehabilitation: A powered elbow orthosis using compliant actuation

Author

Vanderniepen, I. ; Van Ham, R. ; Van Damme, M. ; Versluys, R. ; Lefeber, D.

Author_Institution

Dept. of Mech. Eng., Vrije Univ. Brussel, Brussels, Belgium

fYear

2009

fDate

23-26 June 2009

Firstpage

172

Lastpage

177

Abstract

This paper reports on the powered elbow orthosis for orthopaedic rehabilitation project and its main challenges. The mechanical design is briefly discussed. The actuator being used is the novel rotational actuator, MACCEPA or Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator. The schematic representation and working principle of this actuator are recapitulated in short before describing the mathematical model of the orthosis and the choices made to find a balance between simplicity, usefulness and correspondence with reality.

Keywords

actuators; biomechanics; compliance control; medical robotics; orthopaedics; orthotics; patient rehabilitation; position control; MACCEPA; controllable equilibrium position actuator; mathematical model; mechanically adjustable compliance actuator; orthopaedic rehabilitation; powered elbow orthosis; rotational actuator; Actuators; Central nervous system; Elbow; Joints; Mathematical model; Medical robotics; Medical treatment; Orthopedic surgery; Rehabilitation robotics; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on

Conference_Location

Kyoto International Conference Center

ISSN

1945-7898

Print_ISBN

978-1-4244-3788-7

Electronic_ISBN

1945-7898

Type

conf

DOI

10.1109/ICORR.2009.5209483

Filename

5209483