DESIGN AND EVALUATION OF A POWERED LOWER-LIMB EXOSKELETON FOR PEDIATRIC GAIT REHABILITATION AND MOBILITY

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 bench testing evaluation of a modular, lightweight and customizable powered exoskeleton for over-ground walking and gait rehabilitation. The pediatric lower-extremity gait system (P-LEGS) exoskeleton contains bilaterally active hip, knee and ankle joints to provide movement support for walking standing and sitting to young children with lower-limb disabilities such as those present in Cerebral Palsy, Spina Bifida and Spinal Cord Injured populations. The system consists of six joint control modules, one at each hip, knee and ankle joint. The joint control module, features an actuator, gear, motor driver, microcontroller and system monitoring sensors. Bench-testing results of the joint actuator assembly as well as full device evaluation for a 10-meter walk test and repeated sit-stand transition evaluation under unloaded conditions as well as conditions loaded with a mannequin to simulate a young child are presented and discussed. The device is being prepared to enter clinical testing with able-bodied and children from the target populations and customized cuffs have been developed through 3D scanning and 3D printing for the able-bodied subjects to begin testing.