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Performance Evaluation of a Lower Limb Exoskeleton for Stair Ascent and Descent with Paraplegia

Overview
Journal Annu Int Conf IEEE Eng Med Biol Soc
Specialty Biomedical Engineering
Date 2013 Feb 1
PMID 23366287
Citations 11
Authors
Ryan J Farris
Hugo A Quintero
Michael Goldfarb
Affiliations
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Abstract

This paper describes the application of a powered lower limb exoskeleton to aid paraplegic individuals in stair ascent and descent. A brief description of the exoskeleton hardware is provided along with an explanation of the control methodology implemented to allow stair ascent and descent. Tests were performed with a paraplegic individual (T10 complete injury level) and data is presented from multiple trials, including the hip and knee joint torque and power required to perform this functionality. Joint torque and power requirements are summarized, including peak hip and knee joint torque requirements of 0.75 Nm/kg and 0.87 Nm/kg, respectively, and peak hip and knee joint power requirements of approximately 0.65 W/kg and 0.85 W/kg, respectively.

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