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FAROOQ-THESIS-2015.Pdf MODIFICATIONS AND UPPER EXTREMITY ORTHOTICS FOR THE LOFSTRAND CRUTCH BY DEEN S. FAROOQ THESIS Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering in the Graduate College of the University of Illinois at Urbana-Champaign, 2015 Urbana, Illinois Adviser: Professor Elizabeth T. Hsiao-Wecksler ABSTRACT According to the latest National Institute on Disability and Rehabilitation Research (NIDRR) Mobility Device Report, there are an estimated 566,000 persons who use crutches in the US. During Lofstrand crutch mobility, irregular loads are placed upon the upper extremities during quadrupedal gait. During self-load bearing while walking with Lofstrand crutches, the arms can experience periodic loads every 1 s of up to 50% of body weight for durations as short as 340 ms. Excessive loads and motion of the wrist increase chances for carpal tunnel syndrome. Lofstrand crutch users would clearly benefit by having these upper extremity demands reallocated or supported by an orthosis to allow for longer-term ambulation, reduction in pain, and injury avoidance. This thesis contains two studies: the design of a passive orthosis for Lofstrand crutch gait, and the use of a pneumatic pump as an energy harvesting device. An orthotic attachment for the Lofstrand crutch was developed, in order to reduce wrist extension and redirect loads from the carpal tunnel region on the palm and toward the adductor pollicis. Pressure sensors were used at the handle of the crutch to locate and measure loads, while motion capture was used to calculate joint angles. Results show a decrease in the average force and mean pressure across a Lofstrand crutch handle when using the orthosis, although peak palmar pressures may be greater with the orthosis. Palmar load displacement toward the adductor pollicis was achieved. There is motivation to extend this work by using soft robotic technology, which will be powered pneumatically. Therefore, a preliminary design for a pneumatic harvesting device that can accumulate pressure throughout the gait cycle was created and assessed. The harvesting device was a piston attached to the tip of the crutch. When compressed, the device stores the pneumatic energy into an accumulator. Data were collected using a pressure transducer. A mathematical model of pressure in the accumulator was developed in order to predict accumulated pressure as a function of effective volume of the piston and dead volume in the system. The model simulation results were compared to experimental values and ranged from 3.79-15.53 percent error. A second custom piston design to achieve higher stroke volume is also presented. ii Bismillah; in the name of God. iii ACKNOWLEDGEMENTS I would like to thank my advisor, Elizabeth Hsiao-Wecksler, not only for her guidance and ideas throughout the stages of these projects, but for her eagerness and willingness to pursue this project from its onset. It has been an honor to be a part of the Human Dynamics and Controls Laboratory at the University of Illinois and I look forward to the amazing things to be accomplished there. I would also like to thank Brooke Slavens, Omid Jahanian, Alyssa Schnorenberg and all those who assisted at the University of Wisconsin Milwaukee for their expertise and technical assistance throughout this project. Mazharul Islam, Chenzhang Xiao, and Ye Lwin Oo among other plentiful lab-mates have been of great assistance in a variety of ways throughout this work and I thank them for their help and ideas. I would also like to thank my friends, family, and loved ones; especially my wife Shazia Siddiqi, and my parents, Julia and Mohammad Farooq. Without them, their love and support, none of this would be possible. Finally and most importantly, I thank, praise and glorify God for the blessings, honor, guidance, and knowledge that only He can bestow. Nothing can be accomplished without Him allowing it to be. God willing, this work will be of use, aid those in need, and allow peace, tranquility, and guidance to be spread throughout the world. iv Table of Contents 1: INTRODUCTION & LITERATURE REVIEW ................................................................................................... 1 1.1 PATIENT POPULATIONS................................................................................................................. 1 1.1.1 Medical Conditions Experienced By Patient Populations ..................................................... 1 1.1.2 Carpal Tunnel Syndrome (CTS).............................................................................................. 2 1.1.3 The Effects of Upper Extremity Pain on Quality of Life ........................................................ 2 1.2 EXISTING CRUTCH DESIGNS .......................................................................................................... 3 1.2.1 The Traditional Lofstrand Crutch .......................................................................................... 3 1.2.2 Alternatives and Accessories to the Lofstrand Crutch .......................................................... 4 1.2.3 Spring-Loaded Crutches ........................................................................................................ 5 1.2.4 Pediatric Crutches ................................................................................................................. 6 1.3 UNDERSTANDING LOFSTRAND CRUTCH GAIT .............................................................................. 6 1.3.1 Different Gait Modes and Their Use ..................................................................................... 6 1.3.2 Benefits of Having the Wrist in the Neutral Position During Crutch Gait ............................. 7 1.3.3 Kinetics and Kinematics ........................................................................................................ 7 1.3.4 A Closer Look at the Wrist ..................................................................................................... 8 1.4 POWER HARVESTING DEVICES ...................................................................................................... 8 1.4.1 Existing Devices Harvesting Energy from Gait ...................................................................... 8 1.4.2 Pneumatic Pump and Accumulator Technology Pertaining to Crutch Gait .......................... 9 1.5 THESIS OVERVIEW ......................................................................................................................... 9 2: DESIGN AND VALIDATION OF A PASSIVE WRIST ORTHOSIS ................................................................... 19 2.1 INTRODUCTION ................................................................................................................................. 19 2.2 METHODS .......................................................................................................................................... 20 2.2.1 Orthosis Design .......................................................................................................................... 20 2.2.2 Experimental assessment .......................................................................................................... 20 2.2.3 Test subject demographics ........................................................................................................ 20 2.2.4 Testing Protocol ......................................................................................................................... 20 2.3 RESULTS............................................................................................................................................. 22 2.4 DISCUSSION ....................................................................................................................................... 22 2.4.1 Limitations .................................................................................................................................. 23 v 2.4.2 Future Work ............................................................................................................................... 23 2.5 CONCLUSION ..................................................................................................................................... 24 3: DESIGN AND VALIDATION OF A PNEUMATIC ENERGY HARVESTING DEVICE WITHIN THE TIP OF THE LOFSTRAND CRUTCH ................................................................................................................................... 45 3.1 INTRODUCTION ................................................................................................................................. 45 3.2 METHODS .......................................................................................................................................... 46 3.2.1 Device Design ............................................................................................................................. 46 3.2.2 Theoretical System Description ................................................................................................. 47 3.2.3 Experimental Testbed and Procedure ....................................................................................... 50 3.3 RESULTS............................................................................................................................................. 51 3.4 DISCUSSION ......................................................................................................................................
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