Abstract
This article presents a novel robotic brace for the treatment of scoliosis. The motivation of this new device comes from the shortcomings in current braces including the rigid brace and the soft brace. Besides, the novel active brace can be used not only for applying active corrective forces on spine, but also for the rehabilitation exercise. The design and control architectures are described for the novel brace and genetic algorithm is used to obtain optimal structural parameters. Two Stewart platforms connected in series form this brace which is driven by 12 electric actuators. Each platform can be controlled in motion or force mode independently. The device can move in six orientations in motion mode and apply six-degree-of-freedom forces on the spine in force mode. In order to evaluate the function and performance of the dynamic brace system, a simple proportional–integral–differential control strategy is employed in both the two control modes. Experimental results depict that the proposed device can respond to the desired position/force commands excellently.
| Original language | English |
|---|---|
| Pages (from-to) | 1230-1244 |
| Number of pages | 15 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine |
| Volume | 232 |
| Issue number | 12 |
| DOIs | |
| State | Published - 1 Dec 2018 |
| Externally published | Yes |
Keywords
- force control
- genetic algorithm
- motion control
- Robotic brace
- scoliosis