Constant torque gravity compensation
Designing a wrist support for Duchenne Muscular Dystrophy patients
B.J. van der Burgh (TU Delft - Mechanical Engineering)
G. Radaelli – Mentor (TU Delft - Mechatronic Systems Design)
S.J. Filius – Mentor (TU Delft - Biomechatronics & Human-Machine Control)
J. Harlaar – Mentor (TU Delft - Biomechatronics & Human-Machine Control)
G. Smit – Graduation committee member (TU Delft - Medical Instruments & Bio-Inspired Technology)
D. MacHekposhti – Graduation committee member (TU Delft - Mechatronic Systems Design)
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Abstract
Duchenne Muscular Dystrophy (DMD) patients suffer from a severe form of progressive muscular weakness. Consequently, as the disease progresses these patients become more and more dependent on assistive devices for their daily activities. For instance lifting their arms against gravity already becomes challenging. So far, a considerable amount of effort has been put in the development of assistive devices. However, compensating the weight of the hand remains challenging as the required balancing torques are dependent on the position of the hand and the orientation of the forearm.
In this research a solution is proposed to passively compensate the weight of the hand by making use of a simplified torque profile (a constant torque). The effectiveness of this profile was assessed experimentally in a group of healthy subjects. For this the wrist muscle activity required to lift the hand against gravity was measured through surface electromyography, for several types of compensation. From this experiment the conclusion can be drawn that a constant torque profile performs similar to the theoretically ideal type of balancing, showing a similar reduction in the anti-gravity muscle activity.
Based on these findings, a mechanism has been developed capable of providing an adjustable constant force, by making use of a combination of positive and negative stiffness springs, for implementation in a wrist support for DMD patients.