Joint Torque Instrumentation in a Pediatric Exoskeleton


Background. There are 300,000+ children in the US living with ambulatory disorders. Many of them rely on wheelchairs, which cause health complications due to their sedentary nature. The UH-BMI lab is developing a powered pediatric exoskeleton to reduce wheelchair use in these children. Strain gauges and an encoder were to instrument the joints of the exoskeleton for impedance control. Conclusions. The instrumentation was successful and torques of up to 100Nm can be properly sampled and processed. The samples are obtained at a high frequency to prevent aliasing. The tests provided an adequate model of the joints of the exoskeleton. The data obtained from this project would improve the safety of the exoskeleton.