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

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,...

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Bibliographic Details
Published in:Robotica 2023-05, Vol.41 (5), p.1466-1482
Main Authors: Ray, Rahul, Nouaille, Laurence, Colobert, Briac, Calistri, Laurine, Poisson, Gérard
Format: Article
Language:English
Subjects:
Advances in Medical Robotics
Back surgery
Design
Engineering Sciences
Internet resources
Kinematics
Mechatronics
Motion control
Posture
Prototyping
Robot control
Robotics
Scoliosis
Spinal curvature
Torso
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Summary: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.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574722001825