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Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Novel swing-assist un-motorized exoskeletons for gait training | BioMed Central Journal of NeuroEngineering and Rehabilitation Research Novel swing-assist un-motorized exoskeletons for gait training Kalyan K Mankala Sai K Banala and Sunil K Agrawal Address Department of Mechanical Engineering University of Delaware Newark DE 19716 USA Email Kalyan K Mankala - kalyan.mankala@asml.com Sai K Banala - sai.banala@gmail.com Sunil K Agrawal - agrawal@udel.edu Corresponding author Open Access Published 3 July 2009 Received 17 November 2008 Journal of NeuroEngineering and Rehabilitation 2009 6 24 doi 10.1186 1743-0003-6-24 Accepted 3 July 2009 This article is available from http www.jneuroengrehab.cOm content 6 1 24 2009 Mankala et al licensee BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License http creativecommons.org licenses by 2.0 which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. Abstract Background Robotics is emerging as a promising tool for functional training of human movement. Much of the research in this area over the last decade has focused on upper extremity orthotic devices. Some recent commercial designs proposed for the lower extremity are powered and expensive - hence these could have limited affordability by most clinics. In this paper we present a novel un-motorized bilateral exoskeleton that can be used to assist in treadmill training of motor-impaired patients such as with motor-incomplete spinal cord injury. The exoskeleton is designed such that the human leg will have a desirable swing motion once it is strapped to the exoskeleton. Since this exoskeleton is un-motorized it can potentially be produced cheaply and could reduce the physical demand on therapists during treadmill training. Results A swing-assist bilateral exoskeleton was designed and fabricated at the University of Delaware having the following salient features i The design uses torsional springs at the hip and the
