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Design and position control of a robotic brace dedicated to the treatment of scoliosis

Published online by Cambridge University Press:  09 January 2023

Rahul Ray Open the ORCID record for Rahul Ray [Opens in a new window] ,
Laurence Nouaille ,
Briac Colobert ,
Laurine Calistri  and
Gérard Poisson
Rahul Ray*
Affiliation:
PRISME Laboratory, University of Orléans, Orléans, France Department of Research and Development, Proteor Company, Dijon, France
Laurence Nouaille
Affiliation:
PRISME Laboratory, University of Orléans, Orléans, France
Briac Colobert
Affiliation:
Department of Research and Development, Proteor Company, Dijon, France
Laurine Calistri
Affiliation:
Department of Research and Development, Proteor Company, Dijon, France
Gérard Poisson
Affiliation:
PRISME Laboratory, University of Orléans, Orléans, France
*
*Corresponding author. E-mail: rahul.ray@etu.univ-orleans.fr
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Abstract

This paper’s content focuses on designing and prototyping a robotic brace dedicated to treating scoliosis. Scoliosis is an abnormal spinal curvature affecting 1–3% of children and constitutes a major therapeutic problem. In moderate cases of deformity, passive brace treatment is performed. However, this approach can lead to important patient discomfort. So, we propose a robotic solution providing greater mobility and the possibility of adapting the procedure to each patient. The robotic brace we built and tested is composed of three specific rings adapted to the patient’s torso. Each independent module of two consecutive rings is movable through a Stewart–Gough platform-type mechanism. As the robotic brace is lightweight, it brings better portability and improves the patient’s comfort.

The first part of the paper shows the state of the art of bracing techniques: from passive to active orthoses. Next, the mechatronics of the device is detailed, and the robot’s kinematic models are developed. The motion control principle is given. In the last part, motion tests were administered with a healthy human to validate the brace architecture choice and its position and motion control strategies.

Keywords

scoliosisadolescents idiopathic scoliosisorthoticsexoskeletonsrehabilitation roboticswearable robotsStewart–Gough platformposition control
Type
Research Article
Information
Robotica , Volume 41 , Issue 5 , May 2023 , pp. 1466 - 1482
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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