Spinal cord injuries (SCIs) generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. This paper presents 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. Firstly, the paper presents a motion-capture (MoCap) and OpenSim-based kinematic analysis of the cable-based system to understand requisite device characteristics. The simulated evaluation resulted in the cable-based device to require 55-60cm of unrestricted travel, and to lock at a threshold cable velocity of 80-100cm/sec. 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（SCI）通常导致感觉和运动功能障碍，其中躯干不稳定尤为严重。现有躯干稳定器多存在结构僵硬、活动受限等问题。本文提出一种受离心离合器与安全带机构启发、具有1个自由度（DoF）的无约束机械式躯干稳定器初步方案。首先，通过基于运动捕捉（MoCap）和OpenSim的绳索系统运动学分析，明确设备所需特性。仿真评估表明，该绳索装置需具备55-60厘米无限制行程，并在绳索速度达到80-100厘米/秒阈值时触发锁定。接着，介绍所开发的1-DoF装置：该机械装置在日常生活活动中保持透明无感，并在检测到即将跌倒时切换为柔性阻挡模式。最终，通过MoCap运动学分析验证样机行为，证实其非限制性运动、可靠阻挡切换以及阻挡柔性均符合设计要求。