Enhancing Voluntary Motion in Broad Patient Populations With Modular Powered Orthoses
Overview
- Phase
- N/A
- Intervention
- Not specified
- Conditions
- Lower-limb Orthoses
- Sponsor
- University of Michigan
- Enrollment
- 33
- Locations
- 1
- Primary Endpoint
- Powered orthosis effect (muscle effort)
- Status
- Recruiting
- Last Updated
- 9 months ago
Overview
Brief Summary
The overall goal of this project is to develop modular, lower-limb, powered orthoses that fit to user-specific weakened joints and control force/torque in a manner that enhances voluntary motion in broad patient populations. This project aims to establish feasibility of assisting different populations with these modular powered orthoses. The investigators hypothesize that assisting lower-limb musculature with modular powered orthoses will improve 1) lifting/lowering posture in able-bodied subjects and 2) functional outcomes in elderly subjects.
Detailed Description
The overall goal of this project is to develop modular, lower-limb, powered orthoses that fit to user-specific weakened joints and control force/torque in a manner that enhances voluntary motion in broad patient populations. Conventional orthoses tend to immobilize joints, and emerging powered orthoses constrain voluntary motion by using highly geared electric motors and/or control methods that force the user to follow a specific gait pattern. Consequently, these devices have not seen widespread success across populations with weakened voluntary control due to advanced age, musculoskeletal disorders, etc. These heterogeneous populations require partial, not full, assistance of user-specific muscle groups during daily activities. However, there is a fundamental gap in knowledge about how to design and control powered orthoses to assist the user without constraining their motion. The central hypothesis of this project is that high-torque, low-inertia motor systems controlled with energetic objectives will enable modular powered orthoses to partially assist the joints. High-torque electric motors combined with minimal transmissions can be freely rotated (i.e., backdriven) by human joints, allowing the use of an emerging torque control method called energy shaping to reduce the perceived weight/inertia of the body during any motion. By mounting these modular actuators to commercial orthoses, this technology will be easily prescribed/configured by clinicians. This project aims to establish feasibility of assisting different populations with modular powered orthoses. The investigators hypothesize that assisting lower-limb musculature with modular powered orthoses will improve 1) lifting/lowering posture in able-bodied subjects and 2) functional outcomes in elderly subjects.
Investigators
Robert D Gregg
Associate Professor
University of Michigan
Eligibility Criteria
Inclusion Criteria
- Not provided
Exclusion Criteria
- Not provided
Outcomes
Primary Outcomes
Powered orthosis effect (muscle effort)
Time Frame: 1 day
For each orthosis module tested, electromyography (EMG) readings will be normalized per-muscle by the peak EMG observed during the no-orthosis condition, and then averaged over the cycle and across repetitions to obtain "normalized exertion" values. Performance will be assessed by the difference between the orthosis condition and no-orthosis condition, averaging across tasks and muscles measured for the joint module.
Time to complete 10 reps of lifting/lowering
Time Frame: 1 day, assessed per experimental condition (i.e. with orthosis and without orthosis)
Time to complete 10 reps of L\&L will be measured post-fatigue in healthy subjects.
Gait speed
Time Frame: 1 day, assessed per experimental condition (i.e. with orthosis and without orthosis)
Gait speed will be determined by the time to complete a 10-meter walk test. This will be the primary outcome measure for elderly subjects.
Powered orthosis effect (biological torque)
Time Frame: 1 day, assessed per experimental condition (i.e. with orthosis and without orthosis)
For each orthosis module tested, peak biological torque (estimated by inverse dynamics) will be averaged across repetitions. Performance will be assessed by the difference between the orthosis condition and no-orthosis condition, averaging across tasks.
Minimum chair height for successful sit-to-stand
Time Frame: 1 day, assessed per experimental condition (i.e. with orthosis and without orthosis)
We will evaluate the minimum chair height from which elderly participants can successfully rise with and without the knee exoskeleton.
Joint power
Time Frame: 1 day, assessed per experimental condition (i.e. with orthosis and without orthosis)
For elderly participants, we will evaluate the peak values of biological and total (exo+biological) joint power with and without the exoskeleton.
Secondary Outcomes
- User satisfaction(1 day, assessed per experimental condition (i.e. with orthosis and without orthosis))
- Thorax angle(1 day, assessed per experimental condition (i.e. with orthosis and without orthosis))
- Stair ascent gait style(1 day, assessed per experimental condition (i.e. with orthosis and without orthosis))