Órtese Ativa Ortholeg: Projeto e Desenvolvimento (Powered Orthosis Ortholeg: Design and Development)

Márcio Valério Araújo (marcio@ct.ufrn.br), Pablo Javier Alsina (pablo@dca.ufrn.br), Válber Cesar Cavalcanti Roza (valbercesar@gmail.com), Nicholas Bastos Melo (nicholas.bastos@gmail.com)

Universidade Federal do Rio Grande do Norte
This paper appears in: Revista IEEE América Latina

Publication Date: Jan. 2015
Volume: 13,   Issue: 1 
ISSN: 1548-0992

This paper presents the design and development of a lower limb powered orthosis called Ortholeg. This device was designed to provide lower limb movements (such as walk) to spinal cord injured people unable to move their legs. Ortholeg weights 20kg and can be worn by users within a heights range between 1,55m to 1,70m, and weights up to 65 kg. This robotic device has two actuators for each leg, one at the knee and the other at the hip. Each one of the actuators controls one degree of freedom on the sagittal plane. The device is able to perform movements such as straight walk, sit and stand up. To ensure balance and safety, the user uses a pair of crutches. Ortholeg orthosis has an embedded modular system, motor controllers, sensors and two Human Machine Interfaces (HMI) based on buttons and electroculography.

Index Terms:
Powered Orthosis, Human Machine Interfaces, Electroculography, Human gait modeling, PCA   

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