ChMER: an exoskeleton robot with active body weight support walker based on compliant actuation for children with cerebral palsy DOI Creative Commons

Yuantao Ding,

Zhengtao Wang, Peizhong Yang

et al.

Frontiers in Bioengineering and Biotechnology, Journal Year: 2025, Volume and Issue: 13

Published: Feb. 27, 2025

Lower limb exoskeleton robots for young children with cerebral palsy (CP) are crucial to support earlier rehabilitation that is more beneficial than later. For safety reasons, pediatric exoskeletons usually equipped body weight (BWS) devices help patients maintain balance. However, existing tend use stiff joint actuation and passive BWS limited compliance. This paper proposes a novel mobile robot (3- ∼ 6-years-old) CP based on intrinsically compliant actuation. A compact kinematic chain integrates an exoskeleton, active system, walker proposed. Furthermore, the design optimization of chain, can walk alone stably in provide high compliance rehabilitation. The adopts similar quasi-direct drive paradigm acquire mechanical uses secondary planetary reducer ensure output torque. Assistive torque control achieved through proprioceptive sensing instead sensors. system series elastic actuator accurately generate force significantly reduce fluctuation compared BWS. Finally, frameworks implemented validate performance. experimental results demonstrate our safe

Language: Английский

ChMER: an exoskeleton robot with active body weight support walker based on compliant actuation for children with cerebral palsy DOI Creative Commons

Yuantao Ding,

Zhengtao Wang, Peizhong Yang

et al.

Frontiers in Bioengineering and Biotechnology, Journal Year: 2025, Volume and Issue: 13

Published: Feb. 27, 2025

Lower limb exoskeleton robots for young children with cerebral palsy (CP) are crucial to support earlier rehabilitation that is more beneficial than later. For safety reasons, pediatric exoskeletons usually equipped body weight (BWS) devices help patients maintain balance. However, existing tend use stiff joint actuation and passive BWS limited compliance. This paper proposes a novel mobile robot (3- ∼ 6-years-old) CP based on intrinsically compliant actuation. A compact kinematic chain integrates an exoskeleton, active system, walker proposed. Furthermore, the design optimization of chain, can walk alone stably in provide high compliance rehabilitation. The adopts similar quasi-direct drive paradigm acquire mechanical uses secondary planetary reducer ensure output torque. Assistive torque control achieved through proprioceptive sensing instead sensors. system series elastic actuator accurately generate force significantly reduce fluctuation compared BWS. Finally, frameworks implemented validate performance. experimental results demonstrate our safe

Language: Английский

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