People affected by Cerebral Palsy suffer from physical disabilities due to irreversible neural impairment since the very beginning of their life. Difficulties in motor control and coordination often relegate these patients to the use of a wheelchair and to the unavoidable upcoming of disuse syndromes. As pointed out in recent literature Damiano [7] physical exercise, especially in young ages, can have a deep impact on the patient health and quality of life. For training purposes is very important to keep an upright position, although in some severe cases this is not trivial. Many commercial mobile orthoses are designed to facilitate the standing, but not all the patients are able to deploy them. ARGO, the Active Reciprocated Gait Orthosis we developed, is a device that overcomes some of the limitations of these devices. It is an active device that is realized starting from a commercial reciprocated Gait Orthosis applying sensors and actuators to it. With ARGO we aim to develop a device for helping limbs in a non-coercive way accordingly to user’s intention. In this way patients can drive the orthosis by themselves, deploying augmented biofeedback over movements. In fact Cerebral Palsy patients usually have weak biofeedback mechanisms and consequently are hardly inclined to learn movements. To achieve this behavior ARGO deploys a torque planning algorithm and a force control system. Data collected from a single case of study shows benefits of the orthosis. We will show that our test patient reaches complete autonomous walking after few hour of training with prototype.

中文翻译：

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面向运动学习，顺应和移动步态矫形器

自从一开始，受到神经性麻痹影响的人就由于不可逆的神经损伤而遭受身体残疾。运动控制和协调上的困难常常使这些患者不得不使用轮椅和不可避免的即将到来的废用综合症。正如最近的文献所指出的，达米亚诺[7]，特别是在年轻时期，体育锻炼会对患者的健康和生活质量产生深远的影响。出于训练目的，保持直立姿势非常重要，尽管在某些严重情况下这并不容易。许多商业移动矫形器被设计成便于站立，但是并非所有患者都能够部署它们。我们开发的主动往复步态矫正器ARGO是一种克服了这些设备某些局限性的设备。它是一种有源设备，从商用往复式步态矫正器开始，向其应用传感器和执行器。借助ARGO，我们旨在开发一种可根据用户意愿以非强制性方式帮助四肢的设备。通过这种方式，患者可以自己驾驶矫形器，在运动过程中部署增强的生物反馈。实际上，脑瘫患者通常具有较弱的生物反馈机制，因此几乎不倾向于学习运动。为了实现这种行为，ARGO部署了扭矩计划算法和力控制系统。从单个研究案例中收集的数据显示了矫形器的好处。我们将证明我们的测试患者经过数小时的原型训练后可以完全自主行走。