Articulación con rigidez controlable y dispositivo de medición de fuerza

El objeto de la invención es una articulación (1) con rigidez controlable y medición de fuerza, comprende un primer dispositivo (20), que comprende un marco (4) con una cara curva, conectado con un primer elemento motor (2), realizando este primer dispositivo (20) la regulación de la posición de la articulación (1), y un segundo dispositivo (22) que regula la rigidez de la articulación (1), que comprende un elemento de empuje (15) cuyo desplazamiento (D) determina una pre-compresión de un elemento resistivo (11) determinando de este modo la rigidez de la articulación (1), y el primer elemento motor (2) proporciona un giro al marco (4) tal que una rueda (8) del segundo dispositivo (22) recorre la cara curva del marco (4) generando una compresión (C) del elemento resistivo (11) a través de una barra de transmisión (7) asociada a dicha rueda (8) y al elemento resistivo (11)Peer reviewedConsejo Superior de Investigaciones Científicas, Universidad Politécnica de MadridB1 Patente sin examen previ

The AMP-Foot 3, new generation propulsive prosthetic feet with explosive motion characteristics: design and validation

The last decades, rehabilitation has become a challenging context for mechatronical engineering. From the state-of-the-art it is seen that the field of prosthetics offers very promising perspectives to roboticist. Today’s prosthetic feet tend to improve amputee walking experience by delivering the necessary push-off forces while walking. Therefore, several new types of (compliant) actuators are developed in order to fulfill the torque and power requirements of a sound ankle-foot complex with minimized power consumption. At the Vrije Universiteit Brussel, the Robotics and Multibody Mechanics research group puts a lot of effort in the design and development of new bionic feet. In 2013, the Ankle Mimicking Prosthetic (AMP-) Foot 2, as a proof-of-concept, showed the advantage of using the explosive elastic actuator capable of delivering the full ankle torques ( $$\pm 120$$ ± 120  Nm) and power ( $$\pm 250$$ ± 250 W) with only a 60 W motor. In this article, the authors present the AMP-Foot 3, using an improved actuation method and using two locking mechanisms for improved energy storage during walking. The article focusses on the mechanical design of the device and validation of its working principle.This work and the publication costs of this article have been funded by the European Commissions 7th Framework Program as part of the project Cyberlegs under grant no. 287894 and by the European Commission ERC Starting grant SPEAR under grant no. 337596.Peer reviewe

An Active Knee Orthesis for the Physical Therapy of NEurological Disorders

This paper presents the design of a new robotic orthotic solution aimed at improving the rehabilitation of a number of neurological disorders (Multiple Sclerosis, Post-Polio and Stroke). These neurological disorders are the most expensive for the European Health Systems, and the personalization of the therapy will contribute to a 47% cost reduction. Most orthotic devices have been evaluated as an aid to in-hospital training and rehabilitation in patients with motor disorders of various origins. The advancement of technology opens the possibility of new active orthoses able to improve function in the usual environment of the patient, providing added benefits to state-of-the-art devices in life quality. The active knee orthosis aims to serve as a basis to justify the prescription and adaptation of robotic orthoses in patients with impaired gait resulting from neurological processes.Peer Reviewe

Control motion approach of a lower limb orthosis to reduce energy consumption

By analysing the dynamic principles of the human gait, an economic gait‐control analysis is performed, and passive elements are included to increase the energy efficiency in the motion control of active orthoses. Traditional orthoses use position patterns from the clinical gait analyses (CGAs) of healthy people, which are then de‐normalized and adjusted to each user. These orthoses maintain a very rigid gait, and their energy cosT is very high, reducing the autonomy of the user. First, to take advantage of the inherent dynamics of the legs, a state machine pattern with different gains in eachstate is applied to reduce the actuator energy consumption. Next, different passive elements, such as springs and brakes in the joints, are analysed to further reduce energy consumption. After an off‐line parameter optimization and a heuristic improvement with genetic algorithms, a reduction in energy consumption of 16.8% is obtained by applying a state machine control pattern, and a reduction of 18.9% is obtained by using passive elements. Finally, by combining both strategies, a more natural gait is obtained, and energy consumption is reduced by 24.6%compared with a pure CGA pattern

Andador con mecanismo de asistencia en operaciones de levantado y sentado de un usuario

Andador (1) con mecanismo de asistencia en operaciones de levantado y sentado de un usuario (21) que comprende una estructura de soporte dotada de medios de desplazamiento (2, 3), un dispositivo de sujeción (20) del usuario al andador y un sistema de bloqueo de los medios de desplazamiento, donde la estructura de soporte comprende al menos un brazo pivotante (14) que guía al dispositivo de sujeción (20) del usuario (21), un soporte guía (11) fijado al andador (1) y que guía al brazo (14) y un módulo de control (15) que controla el sistema de bloqueo de los medios de desplazamiento (2,3) y que comprende medios de selección de un modo de trabajo del andador seleccionado entre “modo andar” y “modo sentarse/levantarse”Peer reviewedConsejo Superior de Investigaciones Científicas, Universidad Politécnica de MadridB1 Patente sin examen previ

Identifying ground-robot impedance to improve terrain adaptability in running robots

To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy efficiency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that control can be applied to emulate the aforementioned animal behaviour. Experimental results of the method are presented, showing well-differentiated estimations on four different types of terrain. Additionally, an analysis of the convergence time is presented and compared with the contact time of humans while running, indicating that the method is suitable for use at high speeds

Estimating Overall and Cause-Specific Excess Mortality during the COVID-19 Pandemic: Methodological Approaches Compared

During the COVID-19 pandemic, excess mortality has been reported worldwide, but its magnitude has varied depending on methodological differences that hinder between-study comparability. Our aim was to estimate variability attributable to different methods, focusing on specific causes of death with different pre-pandemic trends. Monthly mortality figures observed in 2020 in the Veneto Region (Italy) were compared with those forecasted using: (1) 2018–2019 monthly average number of deaths; (2) 2015–2019 monthly average age-standardized mortality rates; (3) Seasonal Autoregressive Integrated Moving Average (SARIMA) models; (4) Generalized Estimating Equations (GEE) models. We analyzed deaths due to all-causes, circulatory diseases, cancer, and neurologic/mental disorders. Excess all-cause mortality estimates in 2020 across the four approaches were: +17.2% (2018–2019 average number of deaths), +9.5% (five-year average age-standardized rates), +15.2% (SARIMA), and +15.7% (GEE). For circulatory diseases (strong pre-pandemic decreasing trend), estimates were +7.1%, −4.4%, +8.4%, and +7.2%, respectively. Cancer mortality showed no relevant variations (ranging from −1.6% to −0.1%), except for the simple comparison of age-standardized mortality rates (−5.5%). The neurologic/mental disorders (with a pre-pandemic growing trend) estimated excess corresponded to +4.0%/+5.1% based on the first two approaches, while no major change could be detected based on the SARIMA and GEE models (−1.3%/+0.3%). The magnitude of excess mortality varied largely based on the methods applied to forecast mortality figures. The comparison with average age-standardized mortality rates in the previous five years diverged from the other approaches due to the lack of control over pre-existing trends. Differences across other methods were more limited, with GEE models probably representing the most versatile option

Variable-stiffness joints with embedded force sensor for high-performance wearable gait exoskeletons

[EN] This PhD thesis aims at advancing beyond the State of the Art in joint actuation systems for gait exoskeletons with the purposes of: enabling joint adaptation to variable symptomatology and improving energy efficiency, and adaptability during walking. By analyzing the biomechanics of locomotion, the characteristics and requirements of the main joints involved in the dynamic locomotion cycle are identified and analyzed. This doctoral work presents the design and development of two novel compliant actuators intended to fulfill the requirements for actuating joint exoskeletons. The main feature of the novel systems is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as force-controlled compliant actuators, these actuators with Adjustable Rigidity and Embedded Sensor, ARES and ARES-XL are intended to be implemented in the joints of the ATLAS pediatric exoskeleton. The resulting device is a force controlled-compliant exoskeleton for children with neuromuscular diseases which allow the exploitation of the intrinsic dynamic during the locomotion cycle. ARES capabilities are presented and evaluated, proving its torque tracking capabilities at different stiffness levels. The versatile operation of the joints such as the knee, could be emulated, and exploited by providing the elements that can control the use of the energy stored in the appropriate phases of the gait. ARES-XL allows the implementation of an add-on locking mechanism to this system, in combination with its zero stiffness capability and large deflection range. The evaluation of the system proves how this design exceeds the main capabilities of the original realization, as well as providing versatile actuation that could lead to its implementation in multiple joints. During this work an assessment of the compliant exoskeleton was performed by walking under certain constrains. Comparing the behavior of the joints under different stiffness conditions, the inherent compliant of the presented actuators showed natural adaptability during the gait cycle, and regions of shock absorption. The work developed in this PhD thesis is expected to continue being implemented in exoskeleton, and robotic prosthetics applications in a research and commercial level. Several publications in relevant journals, and international conferences have been published as a consequence of the research performed during this PhD work. There are currently three patents product of this research, they are being commercially exploited by a SME specialized on robotics for healthcare. Future works will focused in the optimization of the size and weight of the compliant systems, combined with the development and implementation of control strategies adapted to the specific users and environment conditions, for energy efficiency and more natural gaits[ES] Este trabajo doctoral apunta a avanzar más allá del estado del arte en sistemas de actuación articular para exoesqueletos de marcha con los propósitos de: permitir la adaptabilidad de las articulaciones a distintas sintomatologías y mejoras en la eficiencia energética, así como brindar mayor adaptabilidad durante el caminado. Mediante el análisis de la biomecánica de la locomoción, se han identificado y analizado las características y requerimientos de las principales articulaciones involucradas en el ciclo de locomoción dinámica. Este trabajo doctoral presenta el diseño y desarrollo de dos novedosos actuadores adaptables que cumplen con los requisitos para la actuación de las articulaciones de exoesqueletos. La característica principal de los nuevos sistemas es que los elementos que permiten la adaptabilidad, simultáneamente permiten la medición del par ejercido por la articulación. Concebido como actuadores adaptables controlados en fuerza, estos actuadores con rigidez ajustable y sensor incorporado, ARES y ARES-XL están destinados a ser implementados en las articulaciones del exoesqueleto pediátrico ATLAS. El dispositivo resultante es un exoesqueleto adaptable y controlado en fuerza, para niños con enfermedades neuromusculares que permite la explotación de la dinámica intrínseca durante el ciclo de locomoción. Las capacidades de ARES son presentadas y evaluadas, demostrando sus capacidades de medición de par del motor a diferentes niveles de rigidez. La versatilidad de las articulaciones, como en el caso de la rodilla, puede ser emulada y aprovechada al incorporar elementos que puedan controlar el uso de la energía almacenada en las fases apropiadas de la marcha. ARES-XL permite la implementación de un mecanismo de bloqueo en combinación con su capacidad de cero rigidez y gran rango de deflexión. La evaluación del sistema demuestra cómo este diseño excede las principales capacidades de la realización original, a su vez el nuevo sistema proporciona una actuación versátil que podría conducir a su aplicación en múltiples articulaciones. Durante este trabajo una evaluación del exoesqueleto-adaptable se realizó caminando bajo ciertas restricciones mecánicas. Comparando el comportamiento de las articulaciones a diferentes condiciones de rigidez, la adaptabilidad inherente de los actuadores presentados mostró adaptabilidad natural durante el ciclo de la marcha, y regiones de absorción de choque. Se espera que el trabajo desarrollado en esta tesis doctoral continúe implementándose en aplicaciones de exoesqueletos y prótesis robóticas, a nivel de investigación y comercial. Varias publicaciones en revistas relevantes y conferencias internacionales han sido publicadas como consecuencia de la investigación llevada a cabo durante este trabajo de doctorado. Actualmente hay tres patentes producto de esta investigación, que están siendo explotados comercialmente por una PYME especializada en robótica para la salud. Los trabajos futuros se centrarán en la optimización del tamaño y peso de los sistemas de actuación adaptables, combinado con el desarrollo e implementación de estrategias de control adaptadas a los usuarios específicos y condiciones del entorno, con el objetivo de mejoras en la eficiencia energética y un andar más natural.Peer reviewe