A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury

The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that...

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Autores principales: Nandor, Mark, Kobetic, Rudi, Audu, Musa, Triolo, Ron, Quinn, Roger
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8111011/
https://www.ncbi.nlm.nih.gov/pubmed/33987208
http://dx.doi.org/10.3389/frobt.2021.645588
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author Nandor, Mark
Kobetic, Rudi
Audu, Musa
Triolo, Ron
Quinn, Roger
author_facet Nandor, Mark
Kobetic, Rudi
Audu, Musa
Triolo, Ron
Quinn, Roger
author_sort Nandor, Mark
collection PubMed
description The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset.
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spelling pubmed-81110112021-05-12 A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury Nandor, Mark Kobetic, Rudi Audu, Musa Triolo, Ron Quinn, Roger Front Robot AI Robotics and AI The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset. Frontiers Media S.A. 2021-04-27 /pmc/articles/PMC8111011/ /pubmed/33987208 http://dx.doi.org/10.3389/frobt.2021.645588 Text en Copyright © 2021 Nandor, Kobetic, Audu, Triolo and Quinn. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Nandor, Mark
Kobetic, Rudi
Audu, Musa
Triolo, Ron
Quinn, Roger
A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title_full A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title_fullStr A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title_full_unstemmed A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title_short A Muscle-First, Electromechanical Hybrid Gait Restoration System in People With Spinal Cord Injury
title_sort muscle-first, electromechanical hybrid gait restoration system in people with spinal cord injury
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8111011/
https://www.ncbi.nlm.nih.gov/pubmed/33987208
http://dx.doi.org/10.3389/frobt.2021.645588
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