[ARTICLE] A wearable exoskeleton suit for motion assistance to paralysed patients – Full Text

Summary

Background/Objective

The number of patients paralysed due to stroke, spinal cord injury, or other related diseases is increasing. In order to improve the physical and mental health of these patients, robotic devices that can help them to regain the mobility to stand and walk are highly desirable. The aim of this study is to develop a wearable exoskeleton suit to help paralysed patients regain the ability to stand up/sit down (STS) and walk.

Methods

A lower extremity exoskeleton named CUHK-EXO was developed with considerations of ergonomics, user-friendly interface, safety, and comfort. The mechanical structure, human-machine interface, reference trajectories of the exoskeleton hip and knee joints, and control architecture of CUHK-EXO were designed. Clinical trials with a paralysed patient were performed to validate the effectiveness of the whole system design.

Results

With the assistance provided by CUHK-EXO, the paralysed patient was able to STS and walk. As designed, the actual joint angles of the exoskeleton well followed the designed reference trajectories, and assistive torques generated from the exoskeleton actuators were able to support the patient’s STS and walking motions.

Conclusion

The whole system design of CUHK-EXO is effective and can be optimised for clinical application. The exoskeleton can provide proper assistance in enabling paralysed patients to STS and walk.

Continue —> A wearable exoskeleton suit for motion assistance to paralysed patients

 

Figure 1

Figure 1. The wearable exoskeleton suit CUHK-EXO. (A) A patient with the wearable exoskeleton suit CUHK-EXO supported by a pair of smart crutches; (B) diagram of the overall mechanical structure of CUHK-EXO; (C) waist structure of CUHK-EXO; (D) thigh structure of CUHK-EXO; (E) shank structure of CUHK-EXO. (F) foot structure of CUHK-EXO.

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