TY - GEN
T1 - Design of a customizable, modular pediatric exoskeleton for rehabilitation and mobility
AU - Eguren, David
AU - Cestari, Manuel
AU - Luu, Trieu Phat
AU - Kilicarslan, Atilla
AU - Steele, Alexander
AU - Contreras-Vidal, Jose L.
N1 - Funding Information:
*Research supported by NSF IUCRC BRAIN, Mission Connect – A TIRR Foundation, the University of Houston Cullen College of Engineering, and NSF Awards CNS 1650536 and EEC 1757949 and a NSF IUCRC Veteran's Research Supplement (VRS) to A. Steele.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85076764261&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85076764261&partnerID=8YFLogxK
U2 - 10.1109/SMC.2019.8914629
DO - 10.1109/SMC.2019.8914629
M3 - Conference contribution
AN - SCOPUS:85076764261
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 2411
EP - 2416
BT - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
Y2 - 6 October 2019 through 9 October 2019
ER -