Design of a customizable, modular pediatric exoskeleton for rehabilitation and mobility

David Eguren, Manuel Cestari, Trieu Phat Luu, Atilla Kilicarslan, Alexander Steele, Jose L. Contreras Vidal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Powered exoskeletons for gait rehabilitation and mobility assistance are currently available for the adult population and hold great promise for children with mobility limiting conditions. Described here is the development and key features of a modular, lightweight and customizable powered exoskeleton for assist-as-needed overground walking and gait rehabilitation. The pediatric lower-extremity gait system (PLEGS) exoskeleton contains bilaterally active hip, knee and ankle joints and assist-as-needed shared control for young children with lower-limb disabilities such as those present in the Cerebral Palsy, Spina Bifida and Spinal Cord Injured populations. The system is comprised of six joint control modules, one at each hip, knee and ankle joint. The joint control module, features an actuator and motor driver, microcontroller, torque sensor to enable assist-as-needed control, inertial measurement unit and system monitoring sensors. Bench-testing results for the proposed joint control module are also presented and discussed.

Original languageEnglish (US)
Title of host publication2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2411-2416
Number of pages6
Volume2019-October
ISBN (Electronic)9781728145693
DOIs
StatePublished - Oct 1 2019
Event2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 - Bari, Italy
Duration: Oct 6 2019Oct 9 2019

Other

Other2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
CountryItaly
CityBari
Period10/6/1910/9/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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    Eguren, D., Cestari, M., Luu, T. P., Kilicarslan, A., Steele, A., & Contreras Vidal, J. L. (2019). Design of a customizable, modular pediatric exoskeleton for rehabilitation and mobility. In 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 (Vol. 2019-October, pp. 2411-2416). [8914629] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2019.8914629