requirements of a powered gait orthosis

Abstract—The Powered Gait Orthosis (PGO) is a powered exoskeleton developed as an experimental device to provide bipedal locomotion to individuals with physical impairment. The current prototype consists of a single degree of freedom (DOF) system for each leg, providing power and proper dis-placement required for bipedal locomotion. It is the goal of this research to obtain the forces that are present in the device while it is in normal operation. In addition, the time ratio of the hip function generator has been varied to determine the effect that different time ratios have on system forces and required user energy. The time ratio is the relationship between the time period that the thigh is in swing phase and when it is in support phase. Knowing the forces in the system and the optimal time ratio will allow for the design and construction of a feasible device for the rehabilitation and assistance of individuals who have lost the ability to walk. Key words: bipedal locomotion, gait, ground reaction forces, hip torque, multiple sclerosis, orthosis, powered walking exoskeleton