An Untethered Ankle Exoskeleton Improves Walking Economy in a Pilot Study of Individuals With Cerebral Palsy.

ABSTRACT: The high energy cost of walking in individuals with cerebral palsy (CP) contributes significantly to reduced mobility and quality of life. The purpose of this paper was to develop and clinically evaluate an untethered ankle exoskeleton with the ability to reduce the metabolic cost of walking in children and young adults with gait pathology from CP. We designed a battery-powered device consisting of an actuator-and-control module worn above the waist with a Bowden cable transmission used to provide torque to pulleys aligned with the ankle. Special consideration was made to minimize adding mass to the body, particularly distal portions of the lower-extremity. The exoskeleton provided plantar-flexor assistance during the mid-to-late stance phase, controlled using a real-time control algorithm

SUBMITTER: Lerner ZF 

PROVIDER: S-EPMC6217810 | biostudies-literature | 2018 Oct

REPOSITORIES: biostudies-literature