Rehabilitation engineering applied to mobility and manipulation / Rory A. Cooper

524 Pages·1995·10.138 MB·English

by  Rory A Cooper

Medical Science Series
REHABILITATION ENGINEERING
APPLIED TO MOBILITY AND
MANIPULATION
Rory A Cooper
University of Pittsburgh, Pittsburgh, USA
and
Highland Drive Veterans Affairs Medical Center,
Pittsburg, USA
Institute of Physics Publishing
Bristol and Philadelphia
@ IOP Publishing Ltd 1995
All rights reserved. No part of this publication may be reproduced, stored
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British Library Cataloguing-in-PublicationD atu
A catalogue record for this book is available from the British Library
ISBN 0 7503 0343 3
Library of Congress Cataloging-in-PublicationD ata
Cooper, Rory A.
Rehabilitation engineering applied to mobility and manipulation/
Rory A. Cooper
p. cm. - - (Medical science series)
Includes bibliographical references and index.
ISBN 0-7503-0343-3
1, Rehabilitation technology. 2. Human mechanics.
3. Wheelchairs. 4. Manipulation (Therapeutics). I. Title.
11. Series.
[DNLM: 1. Rehabilitation- -instrumentation. 2. Biomedical
Engineering. 3. Equipment Design. 4. Wheelchairs- -standards. WB
26 C778r 19951
RM950.C66 1995
617’.0.3- -dc20
DNLMDLC
for Library of Congress 95-38066
CIP
Published by Institute of Physics Publishing, wholly owned by The Institute of
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The Medical Science Series is the official book series of the International
Federation for Medical and Biological Engineering (IFMBE) and the
International Organization for Medical Physics (IOMP)
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of encouraging and promoting international cooperation and collaboration in the
use of technology for improving the health and life quality of man.
The IFMBE is an organization that is mostly an affiliation of national societies.
Transnational organizations can also obtain membership. At present there
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To reflect the interests and initiatives of the affiliated organizations.
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To encourage and foster research and application of medical and biological
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IOMP consists of individual members of the Adhering National Organizations.
Two other forms of membership are available, namely Affiliated Regional
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To organize international cooperation in medical physics in all its aspects,
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especially in developing countries.
To encourage and advise on the formation of national organizations of medical
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the ICMP. The most recent ICMPs were held in Kyoto, Japan (1991) and Rio
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For further information contact: Hans Svensson, PhD, DSc, Professor,
Radiation Physics Department, University Hospital. 90185 UmeA, Sweden, Tel:
(46)90 103891, Fax: [phone].
This book is dedicated to my students and to all my friends with physical
impairments who have provided me with valuable insight. Furthermore, this
book would not have been possible had it not been for the support of my wife,
Rosemarie Cooper, and my grandfather and best friend, Roy Munn.
Rory A Cooper
March 1995
CONTENTS
...
PREFACE
1 INTRODUCTION 1
1.1 Rehabilitation Engineering 1
1.2 US Legislation Influencing Rehabilitation Engineering 4
1.3 International Policy Influencing Rehabilitation Engineering 7
1.4 Assistive Technology 11
1.5 Rehabilitation Technology Suppliers 15
1.6 Engineering Acceptable Performance 15
1.7 Rehabilitation Engineering Design 16
1.8 Assistive Technology Design Criteria 18
1.9 Product Testing 23
1.10 Summary 24
Further Reading and References 27
2 FUNDAMENTALS OF REHABILITATION ENGINEERING
DESIGN 30
2.1 Design Considerations 30
2.2 Total Quality Management in Rehabilitation Engineering 35
2.3 Steel as a Structural Material 42
2.4 Aluminum for Assistive Technology Design 46
2.5 Use of Composites for Assistive Technology Design 49
2.6 Design with Engineering Materials 50
2.7 Fabrication 53
2.8 Basic Electric Circuits 55
Further Reading and References 68
3 BIOMECHANICS OF MOBILITY AND MANIPULATION 69
3.1 Human Motion Analysis 69
3.2 Gait Analysis 90
3.3 Functional Neuromuscular Stimulation for Movement
Restoration 109
3.4 Biomechanics of Wheelchair Propulsion 115
3.5 Biomechanics of Seating 132
ix
X Cont e 12 ts
3.6 Biomechanics of Manipulation 138
Further Reading and References 14 4
4 UNIVERSAL DESIGN AND ACCESSIBILITY 155
4.1 Barrier-Free Design 155
4.2 Elemental Resource Model 156
4.3 Factors Affecting Barrier-Free Design 159
4.4 Interior Space Design 165
4.5 Design for People with Disabilities 166
4.6 Accessible Transportation 177
4.7 Access Legislation 182
Further Reading and References 187
5 PERSONAL TRANSPORTATION 191
5.1 Introduction 191
5.2 Selecting a Vehicle 193
5.3 Lift Mechanisms 196
5.4 Wheelchair Securement Systems 199
5.5 Passenger Restraint Systems 202
5.6 Automobile Hand-Controls 210
5.7 Control of Secondary Functions 215
Further Reading and References 217
6 WHEELCHAIR SAFETY, STANDARDS AND TESTING 219
6.1 Introduction 219
6.2 Standard Tests 219
6.3 Normative Values 220
6.4 Static Stability 220
6.5 A Geometric Approach to Static Stability 223
6.6 Stability with Road Crown and Inclination 224
6.7 Impact Strength Tests 228
6.8 Fatigue Strength Tests 235
6.9 Finite-Element Modeling Applied to Wheelchair
Designmesting 24 1
6.10 Test Dummies 243
6.11 Power Wheelchair Range Testing 244
6.12 Power Wheelchair Controller Performance 247
6.13 Designing for Safe Operation 249
Further Reading and References 253
7 MANUAL WHEELCHAIR DESIGN 255
7.1 Introduction 255
7.2 Classes of Manual Wheelchairs 256
7.3 Frame Design 26 1
Contents xi
7.4 Materials 265
7.5 The Wheelchair and Rider 272
7.6 Wheels and Casters 279
7.7 Components 285
7.8 Human Factors Design Considerations 285
7.9 Future Directions 288
Further Reading and References 289
8 POWER WHEELCHAIR DESIGN 29 1
8.1 Introduction 29 1
8.2 Classes of Power Wheelchairs 292
8.3 Motor Selection 292
8.4 Servoamplifiers 302
8.5 Microprocessor Control 307
8.6 Shared Control 315
8.7 Fault-Tolerant Control 32 1
8.8 Integrated Controllers 323
8.9 Electromagnetic Compatibility 32 5
8.10 Batteries 32 7
8.1 1 Gear Boxes 328
8.12 User Interfaces 32 9
Further Reading and References 333
9 POSTURAL SUPPORT AND SEATING 337
9.1 Seating and Postural Support Systems 337
9.2 Distribution of Stresses in Soft Tissues 359
9.3 Seating Pressure Measurement 361
9.4 Control Interface Integration 365
9.5 Multi-Configuration Seating and Postural Support Systems 368
Further Reading and References 375
10 PROSTHETICS AND ORTHOTICS 378
10.1 Introduction 378
10.2 Upper-Extremity Prostheses 386
10.3 Upper-Extremity Orthoses 39 4
10.4 Lower-Extremity Prostheses 397
10.5 Lower-Extremity Orthoses 407
10.6 Functional Neuromuscular Stimulation 412
10.7 Ambulation Aids 419
10.8 Aids to Daily Living 422
Further Reading and References 423
11 RECREATIONAL DEVICES AND VEHICLES 428
1 1.1 Introduction 428
xii Contents
1 1.2 Racing Wheelchairs 429
1 1.3 Arm-Powered Bicycles and Tricycles 438
1 1.4 Off-Road Vehicles 443
1 1 .5 Water Sports 445
11.6 Adaptive Ski Equipment 447
1 1.7 Recreational Vehicles 452
Further Reading and References 454
12 REHABILITATION ROBOTICS 456
12.1 Introduction 456
12.2 Components and Configurations of Robots 463
12.3 Robot Kinematics 468
12.4 Robot Motion 47 8
12.5 Robot Control 486
12.6 Robot Sensors 494
12.7 Human Interfaces to Robotic Systems 502
Further Reading and References 506
INDEX 510
PREFACE
The field of rehabilitation engineering is continually evolving. The pace of
the progress in rehabilitation engineering is so rapid that technologies and
techniques seem to become obsolete before texts are ever written. This book
attempts to provide a foundation for learning rehabilitation engineering as
applied to mobility and manipulation. The primary audience for this book
is beginning graduate biomedical or rehabilitation engineering students. It
is inherently difficult to write a book that serves different readers coming to
the subject with various backgrounds and degrees of technical knowledge.
Rehabilitation engineering is a young discipline. The combination of
disabilities and technology necessitates rehabilitation engineering being
a markedly interdisciplinary field. Rehabilitation engineers must be
knowledgeable about the possible outcomes of the rehabilitation process,
and with the technical potentials offered by engineering. The rehabilitation
medicine physician and therapist must be aware of the abilities technology
has to offer, whether available or impending, in order to select and
apply assistive technology and therapies that will optimize the patient’s
rehabilitation. The rehabilitation engineer must have thorough knowledge
of available technologies and current research, and have the ability to design
technical solutions to ameliorate disability.
This book reflects the current status of rehabilitation in that there is a lot
of information presented at various levels. Some material is presented in
great detail, whereas other material is treated at lesser depth. This reflects
the current status of the discipline, as well as my personal biases. One of the
difficulties in writing this book was the broad variety of backgrounds which
students and professionals in rehabilitation have. This means that some areas
of the book may appear simplistic for one reader and overwhelming for
another. I have tried to place enough background and motivational material
in the book to help readers learn what they need to understand the material or
to have sufficient references to relevant work to be able to develop sufficient
knowledge for a specific topic. Many books related to assistive technology
or rehabilitation engineering do not provide sufficient depth to be considered
as engineering textbooks. I have attempted to provide some clarification of
difficult topics and to define rehabilitation engineering in terms familiar to
...
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