Design and Evaluation of a Pediatric Lower-Limb Exoskeleton Joint Actuator

• Main Authors: Anthony Goo, Curt A. Laubscher, Ryan J. Farris, Jerzy T. Sawicki
• Format: Article
• Language: English
• Published: MDPI AG 2020-12-01
• Series: Actuators
• Subjects: lower limb exoskeletons; actuator; design; pediatric; backdrivability; validation
• Online Access: https://www.mdpi.com/2076-0825/9/4/138

Lower-limb exoskeletons have undergone significant developments for aiding in the ambulation of adults with gait impairment. However, advancements in exoskeletons for the pediatric population have comparatively been lacking. This paper presents a newly developed joint actuator designed to drive the hip and knee joints of a pediatric lower-limb exoskeleton. The performance requirements associated with the actuators were determined based on a target audience of children ages 6–11 years old. The developed actuators incorporate a hybrid belt-chain transmission driven by a frameless brushless DC motor. One actuator underwent benchtop testing to evaluate its performance with respect to their torque production, bandwidth properties, backdrivability in terms of inertia and friction characteristics, speed capabilities, and operational noise levels. As a preliminary validation, a set of actuators were placed in a prototype orthosis to move a pediatric test dummy in gait tracking via state-feedback control. The results showed that the newly developed actuators meet the design specifications and are suitable for use in the pediatric exoskeleton being developed.