Full Content is available to subscribers

Subscribe/Learn More  >

An Intelligent Exoskeleton for Lower Limb Rehabilitation

[+] Author Affiliations
Hashem Ashrafiuon, Kent Grosh, Kevin J. Burke, Kathleen Bommer

Villanova University, Villanova, PA

Paper No. DETC2010-28022, pp. 3-9; 7 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


A lightweight adjustable exoskeleton is designed to exercise human legs of varying size and weights. The exoskeleton is actuated by three DC motors at the hip, knee, and ankle. An experimental setup with motor controllers, power supplies, a controlled board, and a computer is developed for closed loop control. A sliding mode control law is designed and implemented to exercise an articulated mannequin leg. It is shown that the exoskeleton is able to adapt to external forces making it suitable to aid in the human leg rehabilitation process.

Copyright © 2010 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In