Active Orthosis with Pneumatic Actuators for Lower Limb Rehabilitation
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Solution Overview
Problem
Existing active exoskeletons for lower limb motion rehabilitation are rigid, heavy, and limited in versatility, often requiring a fixed station and restricting physiological movements, particularly lacking ankle activation and versatility in accommodating various pathologies and clinical protocols.
Innovation Solution
A lightweight, compact, and flexible active orthosis with six degrees of freedom, incorporating pneumatic actuators and a modular design that allows ankle activation, enabling rehabilitation both on and off a treadmill, with adjustable anthropometric features and a control system for real-time feedback and pressure regulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If fixed station exoskeletons with rigid structure are used, then structural stability is improved, but weight and device complexity increase significantly
Solution Approach 1:
The exoskeleton is divided into modular segments (hip module, knee module, ankle module) that can be independently adjusted and configured. Each module contains its own actuation system, allowing the structure to be lightweight yet stable through distributed support rather than a single rigid framework.
Solution Approach 2:
The system transitions from a static rigid structure to a dynamic adaptive structure where the exoskeleton can adjust its stiffness and support characteristics in real-time based on patient needs and terrain conditions, reducing overall weight while maintaining stability when required.
2Stability of the object's composition
If fixed station exoskeletons are used, then structural rigidity is improved, but versatility in accommodating different pathologies and clinical protocols deteriorates
Solution Approach 1:
The exoskeleton is designed as a universal rehabilitation platform that can accommodate multiple pathologies (stroke, spinal cord injury, cerebral palsy, etc.) and clinical protocols through software configuration and adjustable mechanical parameters, eliminating the need for different fixed stations for different treatments.
Solution Approach 2:
The system dynamically adapts its control strategies, support levels, and motion constraints based on the specific pathology and therapeutic goals, allowing the same physical structure to provide rigid support when needed and flexible assistance when appropriate for different patient conditions.
3Productivity
If treadmill-based rehabilitation is used, then standardized treatment protocol is improved, but patient mobility and physiological movement range are restricted
Solution Approach 1:
The exoskeleton enables dynamic transition between different rehabilitation modes (treadmill-based, overground walking, suspension therapy) and adjusts its control in real-time to allow physiological movements beyond the rigid constraints of traditional treadmill setups, enhancing both treatment efficiency and patient mobility.
Solution Approach 2:
The system provides multiple rehabilitation functionalities in one device, including treadmill integration, overground walking assistance, and suspension therapy capabilities, allowing clinicians to choose the most appropriate mode for each patient while maintaining standardized treatment protocols when needed.
4Manufacturing precision
If complex actuation systems with multiple linear motors are used, then motion control precision is improved, but device complexity and weight increase
Solution Approach 1:
The exoskeleton employs pneumatic actuators (pneumatic cylinders and pneumatic muscles) instead of complex electric linear motor systems. These pneumatic elements provide smooth, compliant force control with adequate precision while significantly reducing mechanical complexity and weight compared to traditional multi-motor actuation systems.
Solution Approach 2:
The system achieves motion control precision through software-based parameter adjustment of pneumatic actuation (pressure control, flow rate modulation) rather than relying solely on complex mechanical transmission systems, simplifying the overall actuation architecture while maintaining therapeutic precision.
Data Source
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AI summary
An active sling (1) and a process are described, for the motion neurological rehabilitation of lower limbs, the sling (1) being equipped with six degrees of freedom and comprising: an elongated supporting structure (92); a first supporting and handling structure (201, 160) on the sagittal plane of the femur of the patient (1'); a second supporting and handling structure (228, 242, 261) on the sagittal plane of at least one tibia of the patient (1')/ and a third supporting and handling structure (265, 275) on the sagittal plane of a foot, with respect to the tibia, of the patient (1'); the elongated supporting structure (92) is so rigid as to allow the first, second and third supporting and handling structures (201,160; 228,242, 261; 265, 275) to perform mutually related movements, and is also adjustable to be suited to sizes of the patient (1')·