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Mobile Exoskeleton for Spinal Cord Injury: Development and Testing

[+] Author Affiliations
Katherine A. Strausser, Timothy A. Swift, H. Kazerooni

University of California, Berkeley, Berkeley, CA

Adam B. Zoss

Berkeley Bionics, Berkeley, CA

Bradford C. Bennett

University of Virginia, Charlottesville, VA

Paper No. DSCC2011-6042, pp. 419-425; 7 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


For those who have lost the ability to walk due to paralysis or other injuries, eLEGS, a mobile robotic exoskeleton, offers the chance to walk again. The device is a mobile exoskeleton with actuated sagittal plane hip and knee joints which supports the user and moves their legs through a natural gait. The device uses a multi-leveled controller that consists of a state machine to determine the user’s intended motion, a trajectory generator to establish desired joint behavior, and a low level controller to calculate individual joint controller output. The system can be controlled by a physical therapist or can be controlled by the user. Subject testing results are presented from a seven subject pilot study including patients with complete and incomplete injuries. The testing resulted in six of the seven subjects walking unassisted using forearm crutches after a single two hour testing session.

Copyright © 2011 by ASME
Topics: Testing , Wounds , Spinal cord



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