Abstract
Aging of population and increased incidence of gait impairments are dominant trends undermining social welfare and healthcare system. Lower-limb wearable robots proved to be a viable solution for recovering mobility of people affected by gait disorders. This work presents the design of the mechatronic architecture of a fully self-contained active pelvis orthosis (APO) for assisting hip flexion/extension movements during daily living activities. The APO could act compliantly with the human biomechanics thanks to series-elastic actuation and to a novel kinematics chain endowed with passive degrees of freedom. The portability and autonomy of the control system have opened the horizon to explore different assistive tasks in out-of-lab scenarios.
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Parri, A. et al. (2017). A Portable Active Pelvis Orthosis for Ambulatory Movement Assistance. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J., van der Kooij, H., Pons, J. (eds) Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-46532-6_13
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DOI: https://doi.org/10.1007/978-3-319-46532-6_13
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