Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a non-restrictive 1 degree-of-freedom (DoF) mechanical torso stabiliser inspired by devices such as centrifugal clutches and seat-belt mechanisms. First, the paper presents a motion-capture (MoCap) and OpenSim-based kinematic analysis of the cable-based system to understand the requisite device characteristics. The evaluation in simulation resulted in the cable-based device to require 55-60\,cm of unrestricted travel, and to lock at a threshold cable velocity of 80-100\,cm/s. Next, the developed 1-DoF device is introduced. The proposed mechanical device is transparent during activities of daily living, and transitions to compliant blocking when incipient fall is detected. Prototype behaviour was then validated using a MoCap-based kinematic analysis to verify non-restrictive movement, reliable transition to blocking, and compliance of the blocking.

翻译：脊髓损伤通常会导致感觉和运动功能受损，其中躯干失稳尤为严重。现有躯干稳定器多为刚性结构且限制性较强。本研究受离心式离合器和安全带机构等装置的启发，对一种非限制性单自由度机械式躯干稳定器进行早期探索。首先，本文通过基于动作捕捉技术与OpenSim平台的运动学分析，对缆索式系统的必要特性进行研究。仿真评估表明该缆索装置需具备55-60厘米的无障碍行程，并在缆索速度达到80-100厘米/秒的阈值时实现锁定。随后，本文介绍了所开发的单自由度装置。该机械装置在日常活动中保持无感透明状态，在检测到跌倒趋势时可切换至顺应性阻挡模式。最后通过基于动作捕捉的运动学分析验证了原型机的行为特性，证实其具备非限制性运动能力、可靠的模式切换机制以及阻挡状态的顺应性。