This paper describes the design and control architectures for a novel active thoracolumbosacral orthosis targeted at correction of abnormal postures and treatment of the human spine, often seen in adolescent idiopathic or neuromuscular scoliosis. Our novel device is motivated by the current limitations of the rigid braces used for this purpose which do not adapt to changes in the skeletal system in response to treatment. In addition, the dynamic brace can open possibilities for new treatment methods which currently do not exist. Previous brace designs were not capable of providing dynamic controlled forces. Our design utilizes two Stewart-Gough platforms in series, each controlled independently, either in position or force modes. The design can provide controlled forces/torques on different regions of spine to modify the posture. Additionally, it can control the motion of different regions of the spine through independent position control of each platform using six parallel actuators. Both control methods were validated in benchtop tests. A range of motion study was also performed with a healthy subject wearing the device while the system was controlled in transparent mode.
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