Design of a customizable, modular pediatric exoskeleton for rehabilitation and mobility
| Autor: | Manuel Cestari, Atilla Kilicarslan, Alexander G. Steele, Trieu Phat Luu, David Eguren, Jose L. Contreras-Vidal |
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| Rok vydání: | 2019 |
| Předmět: |
musculoskeletal diseases
0209 industrial biotechnology medicine.medical_specialty Rehabilitation Computer science medicine.medical_treatment Powered exoskeleton 02 engineering and technology medicine.disease Gait Exoskeleton Cerebral palsy 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Gait (human) medicine.anatomical_structure Physical medicine and rehabilitation Motor controller medicine Torque sensor Ankle human activities 030217 neurology & neurosurgery |
| Zdroj: | SMC |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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