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Laubscher Dissertation.pdf (6.75 MB)

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Design and Development of a Powered Pediatric Lower-Limb Orthosis

Laubscher, Curt A
http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396

Abstract Details

2020, Doctor of Philosophy in Engineering, Cleveland State University, Washkewicz College of Engineering.
Gait impairments from disorders such as cerebral palsy are important to address early in life. A powered lower-limb orthosis can offer therapists a rehabilitation option using robot-assisted gait training. Although there are many devices already available for the adult population, there are few powered orthoses for the pediatric population. The aim of this dissertation is to embark on the first stages of development of a powered lower-limb orthosis for gait rehabilitation and assistance of children ages 6 to 11 years with walking impairments from cerebral palsy. This dissertation presents the design requirements of the orthosis, the design and fabrication of the joint actuators, and the design and manufacturing of a provisional version of the pediatric orthosis. Preliminary results demonstrate the capabilities of the joint actuators, confirm gait tracking capabilities of the actuators in the provisional orthosis, and evaluate a standing balance control strategy on the under-actuated provisional orthosis in simulation and experiment. In addition, this dissertation presents the design methodology for an anthropometrically parametrized orthosis, the fabrication of the prototype powered orthosis using this design methodology, and experimental application of orthosis hardware in providing walking assistance with a healthy adult. The presented results suggest the developed orthosis hardware is satisfactorily capable of operation and functional with a human subject. The first stages of development in this dissertation show encouraging results and will act as a foundation for further development of the device for rehabilitation and assistance of children with walking impairments.
Jerzy Sawicki (Committee Chair)
Ryan Farris (Committee Member)
Dan Simon (Committee Member)
Antonie van den Bogert (Committee Member)
Ulrich Zurcher (Committee Member)
151 p.
Biomechanics; Biomedical Engineering; Design; Mechanical Engineering
orthosis; exoskeleton; design; cerebral palsy; gait disorder; biomechanics; pediatric

Recommended Citations

Citations

  • Laubscher, C. A. (2020). Design and Development of a Powered Pediatric Lower-Limb Orthosis [Doctoral dissertation, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396

    APA Style (7th edition)

  • Laubscher, Curt. Design and Development of a Powered Pediatric Lower-Limb Orthosis. 2020. Cleveland State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396.

    MLA Style (8th edition)

  • Laubscher, Curt. "Design and Development of a Powered Pediatric Lower-Limb Orthosis." Doctoral dissertation, Cleveland State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396

    Chicago Manual of Style (17th edition)

csu1590485999836396
462
© 2020, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.