Development of a Prototype of an Intelligent Knee Orthosis for Rehabilitation Support - Integrating Sensor Feedback and Control in an Early-stage Prototype for Rehabilitation Assistance

Abstract

The report centers on the design and construction of a prototype of an intelligent knee orthosis that has 1-DOF and can support a user during knee rehabilitation and collects data during a set exercise. The research questions revolve around the construction and selection of components for the prototype, how to tailor assistance to the user during the exercise, factors for modularity and how the collected data can be prepared for usage in the medical field. Unlike previous research within the field focused on walking and gait patterns, this project centers on a specific rehabilitation exercise, the standing leg curl. The intelligent knee orthosis has one degree on freedom and provides adjusted assistance during the exercise.

The orthosis is modular, with adjustable Velcro straps and the links being designed to fit two individuals of varying sizes and lengths. The actuator and tactile sensors were chosen to fit the average human, with added buffers to fit a wider range of users. For safety, the orthosis was tested in two ways, passive and active, simulating varying support when the sensors were touched. The orthosis successfully performs the exercise and can collect data, which potentially can be a foundation for further development to enhance knee rehabilitation. Challenges that can be improved in further developments include changing the type of tactile sensor to get better readings and finding a less powerful actuator or stronger link material to ensure user safety.