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Development and Control of a Pediatric Lower Limb Exoskeleton for Gait Guidance

Goo, Anthony Clarence Chua
http://orcid.org/0000-0003-0319-3437
http://rave.ohiolink.edu/etdc/view?acc_num=csu1683111846672398

Abstract Details

2022, Doctor of Philosophy in Engineering, Cleveland State University, Washkewicz College of Engineering.
Several genetic, developmental and neurological disorders can cause various levels of gait impairment in the pediatric population. Powered lower limb orthoses, or exoskeletons, have recently been used to address gait impairment and afford therapists alternative solutions and strategies for gait therapy. Most exoskeleton research has focused on the adult population while the pediatric population remains underserved. The limitations of current pediatric exoskeletons make them impractical for use in both community and clinical settings. Furthermore, exoskeleton controllers suitable for these environments should promote human volitional control while guiding the subject towards a dynamically stable healthy gait pattern. This dissertation presents the design of a pediatric lower limb exoskeleton and the application of a virtual constraint-based controller on the device. First, a small and lightweight exoskeleton joint actuator capable of delivering the torque and power requirements needed to assist and guide the hip and knee joints was developed. Testing and in-air gait tracking of a model leg in a provisional orthosis demonstrated that the joint actuators were suitable for use in a pediatric exoskeleton. Second, an adjustable exoskeleton frame was designed and fabricated, and a human factors assessment of the fully assembled pediatric lower limb exoskeleton demonstrated that the device was lightweight, comfortable, easily adjustable and suitable for children. Third, a virtual constraint-based controller was applied on an underactuated adult exoskeleton. This initial investigation demonstrated that virtual constraint-based control guided the subject towards a dynamically stable gait in a time-invariant manner, provided greater volitional control to the subject and promoted active participation in the walking exercise. Finally, this dissertation research concluded with the application of a virtual constraint-based controller on the pediatric lower limb exoskeleton in treadmill walking experiments. The results showed that virtual constraint-based control reduced gait variability and the amount of robotic intervention applied relative to proportional-derivative control. Subject feedback also indicated that the virtual constraint-based controller was easier to use compared to time-based proportional-derivative control. This dissertation research demonstrates that the developed exoskeleton is suitable as an investigative platform for pediatric exoskeleton controllers and that virtual constraint-based controllers have potential for the rehabilitation and guidance of pediatric gait.
Jerzy T. Sawicki, Dr. (Advisor)
Ryan J. Farris, Dr. (Committee Member)
Douglas A. Wajda, Dr. (Committee Member)
Antonie J. van den Bogert, Dr. (Committee Member)
Lili Dong, Dr. (Committee Member)
148 p.
Mechanical Engineering; Rehabilitation; Robotics
Pediatrics, Exoskeletons, Virtual Constraint Control, Gait Guidance

Recommended Citations

Citations

  • Goo, A. C. C. (2022). Development and Control of a Pediatric Lower Limb Exoskeleton for Gait Guidance [Doctoral dissertation, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1683111846672398

    APA Style (7th edition)

  • Goo, Anthony Clarence. Development and Control of a Pediatric Lower Limb Exoskeleton for Gait Guidance. 2022. Cleveland State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1683111846672398.

    MLA Style (8th edition)

  • Goo, Anthony Clarence. "Development and Control of a Pediatric Lower Limb Exoskeleton for Gait Guidance." Doctoral dissertation, Cleveland State University, 2022. http://rave.ohiolink.edu/etdc/view?acc_num=csu1683111846672398

    Chicago Manual of Style (17th edition)

csu1683111846672398
124
© 2022, some rights reserved.Creative Commons License Development and Control of a Pediatric Lower Limb Exoskeleton for Gait Guidance by Anthony Clarence Chua Goo is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Cleveland State University and OhioLINK.