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

ABSTRACT:

Introduction

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 are usually equipped with body weight support (BWS) devices to help young patients maintain balance. However, existing pediatric exoskeletons tend to use stiff joint actuation and passive BWS with limited compliance.

Method

This paper proposes a novel mobile exoskeleton robot for young children (3- ∼ 6-years-old) with CP based on intrinsically compliant actuation. A compact kinematic chain that integrates an exoskeleton, an active BWS system, and a walker is proposed. Furthermore, with the actuation design optimization of the kinematic chain, the robot can walk alone

SUBMITTER: Ding Y 

PROVIDER: S-EPMC11903726 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature