Design and experimental performance assessment of a hip flexion assistive device

Details

Supervisors

Herman, Benoît ; Ronsse, Renaud

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil biomédical, à finalité spécialisée

Abstract

The aftermaths of stroke frequently result in hemiparesis among the survivors, inducing gait irregularities and hindering mobility. As the world witnesses an aging population, this disorder represents a pressing challenge with elderly being more prone to suffer from cerebrovascular diseases, including stroke. In this context, wearable robotics emerge as a promising mean for restoring locomotion and improving the overall quality of life for stroke survivors. By providing functional support and addressing walking abnormalities, these technologies facilitates their rehabilitation efforts and empower them to regain independence. Lower-limb orthoses play an important role in enhancing balance and mobility for hemiparetic patients with the ultimate goal of restoring gait symmetry. This study takes place in the creation of an active hip orthosis, H.E.R.O. - Hip Empowering Robotic Orthosis. This device aims at providing hip flexion assistance for people experiencing hemiparesis. The core focus of this work revolves around designing a control system able to synchronize with a patient’s gait dynamics, while delivering a customizable and periodic assistive force. The challenge of dynamic adaptation to pace modifications is addressed with the implementation of a pool of adaptive oscillators. Other considerations of this work include electro-mechanical and ergonomic enhancements. Issues had to be addressed regarding current saturation and the seamless integration of a parallel spring to ensure to exploit full motor capacity. As the human-robot interactions represent one of the main stakes of the project, this study emphasized the user’s comfort while ensuring a safe use. The H.E.R.O. prototype designed in this project holds great potential for assisting hemiparetic patients’ gait and improving their autonomy. The performances achieved met the goals established. The device is now ready to enter the next phase of its development with the integration of a system able to detect the user’s intentions.