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Contribution à l'étude d'exosquelettes isostatiques pour la rééducation fonctionnelle, application à la conception d'orthèses pour le genou.

Abstract : In this thesis, we are interested in the electromechanical design of functional rehabilitation exoskeletons. We elaborated a new method for the general design of passive or active orthoses, which takes into consideration the mobility of the anatomical joint, the muscular disturbances, as well as the possible non-alignment between the anatomical axis and the axes of the device. This approach allows the design of isostatic exoskeletons, which in theory do not force the physiological movement of the anatomical joint. This method is firstly used for the design of a passive measurement device of the kinematics or the dynamics of the knee joint. We use the notion of instantaneous helical axis, well known in biomechanics, to represent the physiological movement of this joint. For the position measurement of this axis, we use the joint position and velocity measures of a six degrees of freedom poly-articulated passive goniometer which was designed and tested within the framework of these works. Secondly, this method was used for the design of an active orthosis for the knee. First experimental tests are satisfactory and confirm our assumptions. The force control is facilitated thanks to the isostatic property of the mechanism. Besides the guide and/or resistance function during anatomical movements, this prototype can also be used to measure the kinematics or the dynamics of the joint. Among the possible applications, we shall quote the static progressive stretch for the treatment of knee stiffness, or the assistance of knee flexion and/or extension during walking.
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Contributor : Viet Anh Dung Cai <>
Submitted on : Wednesday, November 16, 2011 - 4:21:03 AM
Last modification on : Friday, March 22, 2019 - 1:33:07 AM
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  • HAL Id : tel-00641503, version 1

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Viet Anh Dung Cai. Contribution à l'étude d'exosquelettes isostatiques pour la rééducation fonctionnelle, application à la conception d'orthèses pour le genou.. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2011. Français. ⟨tel-00641503⟩

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