L. Stirling, C. H. Yu, J. Miller, R. Wood, R. Nagpal, Harvard University, Boston, MA; E. Goldfield, Children's Hospital Boston, Boston, MA
Current treatments for gait pathologies associated with neuromuscular disorders may employ a passive, rigid brace. While these provide certain benefits, they can also cause muscle atrophy. In this study we examined NiTi shape memory alloy (SMA) wires that were annealed into springs to develop an active, soft orthotic (ASO) for the knee. In this manner, the orthotic can provide variable assistance depending on the time in the gait cycle, activity level, and needs of the wearer. Thus, the subject can have individualized control, causing the muscles to be used more appropriately, possibly leading to a re-education of the motor system and eventual independence from the orthotic system. A prototype was tested on a suspended, robotic leg to simulate the swing phase of gait. The total deflection generated by the orthotic depended on the knee angle and the total number of actuators triggered, with a max deflection of 35 degrees. While SMA wires have a high energy density, they require a significant amount of power. Further, the loaded SMA spring response times were much greater than the natural frequency of gait. While the SMA wires are not appropriate for gait as currently implemented, the ability to have a soft, actuated material could be appropriate for slower timescale applications.
Summary: In this study we examined NiTi shape memory alloy wires that were annealed into springs to develop an active, soft orthotic for the knee. We examine the ability for the orthotic to provide variable assistance during gait.