Research and development of new generation robotic exoskeleton for over ground walking in individuals with mobility disorders (Novel design and control)

Abstract

The potential of improving ambulation and enhancing mobility for individuals with different types of neurological disabilities is possible through the use of robotic exoskeletons. Yet, current robotic technology, when used for rehabilitation or as assistive devices for over ground walking, should consider user intended movements to achieve more biologically similar gait patterns. Our robotic exoskeleton, the New Jersey Trekker, includes sufficient degrees of freedom, joint torque and sensing capabilities to permit the generation of a more natural gait controlled in real-time by the user's intended movements. The primary control strategy of the Trekker employs admittance control to convey user hand movements to control the exoskeleton's leg movement. We expect that this novel interface will transform user-exoskeleton control strategies and enable the user to independently ambulate in the real-world, and enhance community independence.