Development of an Improved Rotational Orthosis for Walking With Arm Swing and Active Ankle Control.

ABSTRACT: Based on interlimb neural coupling, gait robotic systems should produce walking-like movement in both upper and lower limbs for effective walking restoration. Two orthoses were previously designed in our lab to provide passive walking with arm swing. However, an active system for walking with arm swing is desirable to serve as a testbed for investigation of interlimb neural coupling in response to voluntary input. Given the important function of the ankle joint during normal walking, this work aimed to develop an improved rotational orthosis for walking with arm swing, which is called ROWAS II, and especially to develop and evaluate the algorithms for active ankle control. After description of the mechanical structure and control schemes of the overall ROWAS II system, the closed-loop posi

SUBMITTER: Mu Z 

PROVIDER: S-EPMC7189750 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature