A Low-Profile Hip Exoskeleton for Pathological Gait Assistance: Design and Pilot Testing

Safoura Sadegh Pour Aji Bishe, Leah Liebelt, Ying Fang, Zachary F. Lerner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Hip exoskeletons may hold potential to augment walking performance and mobility in individuals with disabilities. The purpose of this study was to design and validate a novel autonomous hip exoskeleton with a user-adaptive control strategy capable of reducing the energy cost of level and incline walking in individuals with and without walking impairment. First, in a small cohort of three unimpaired individuals, we validated the ability of our control strategy to provide hip flexion-extension torque that was proportional to the biological hip moment and reduce the energy cost of level and incline walking (24 ± 5% and 13 ± 5% reductions, respectively). Next, in a clinical feasibility experiment with an individual with significant walking impairment from cerebral palsy, we demonstrated that our untethered device and adaptive control scheme improved hip extension by 14° across the gait cycle, reduced average rectus femoris and semitendinosus muscle activity by 23% and 46%, respectively, and resulted in a 15% improvement in metabolic cost relative to walking without wearing the device.

Original languageEnglish (US)
Title of host publication2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5461-5466
Number of pages6
ISBN (Electronic)9781728196817
DOIs
StatePublished - 2022
Event39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States
Duration: May 23 2022May 27 2022

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period5/23/225/27/22

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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