Hybrid orthosis system with a variable hip coupling mechanism

Existing reciprocating gait orthoses, to help restore gait to individuals with paraplegia, have a fixed 1:1 hip flexion/extension coupling ratios (FECR), limiting stride length and gait speed. The purpose of this study was to develop a hip reciprocating mechanism for the hybrid orthosis system that is capable of variable hip FECR. The design of the new variable hip reciprocating mechanism incorporates a hydraulic system which utilizes solenoid valves to control coupling between cylinders linked to each hip joint of the orthosis. A specific set of valves are pulsed to achieve continual variable hip coupling. It was shown that piston velocity was inversely proportional to pulse width and also dependent on pulsing frequency. Internal losses in the hydraulic hip reciprocating mechanism occur primarily in the cylinders. Feedback control will be achieved with a dual layer gait event detector consisting of a fuzzy inference system and a set of supervisory rules.