Design and control of a single-leg exoskeleton with gravity compensation for children with unilateral cerebral palsy

Journal article

Sarajchi, M. and Sirlantzis, K. 2023. Design and control of a single-leg exoskeleton with gravity compensation for children with unilateral cerebral palsy. Sensors. 23 (13), p. 6103. https://doi.org/1424-8220/23/13/6103
AuthorsSarajchi, M. and Sirlantzis, K.
AbstractChildren with cerebral palsy (CP) experience reduced quality of life due to limited mobility and independence. Recent studies have shown that lower-limb exoskeletons (LLEs) have significant potential to improve the walking ability of children with CP. However, the number of prototyped LLEs for children with CP is very limited, while no single-leg exoskeleton (SLE) has been developed specifically for children with CP. This study aims to fill this gap by designing the first size-adjustable SLE for children with CP aged 8 to 12, covering Gross Motor Function Classification System (GMFCS) levels I to IV. The exoskeleton incorporates three active joints at the hip, knee, and ankle, actuated by brushless DC motors and harmonic drive gears. Individuals with CP have higher metabolic consumption than their typically developed (TD) peers, with gravity being a significant contributing factor. To address this, the study designed a model-based gravity-compensator impedance controller for the SLE. A dynamic model of user and exoskeleton interaction based on the Euler–Lagrange formulation and following Denavit–Hartenberg rules was derived and validated in Simscape™ and Simulink® with remarkable precision. Additionally, a novel systematic simplification method was developed to facilitate dynamic modelling. The simulation results demonstrate that the controlled SLE can improve the walking functionality of children with CP, enabling them to follow predefined target trajectories with high accuracy.
KeywordsElectrical and electronic engineering; Biochemistry; Instrumentation; Atomic and molecular physics, and optics; Analytical chemistry
Year2023
JournalSensors
Journal citation23 (13), p. 6103
PublisherMDPI AG
ISSN1424-8220
Digital Object Identifier (DOI)https://doi.org/1424-8220/23/13/6103
Official URLhttps://www.mdpi.com/1424-8220/23/13/6103
Publication dates
Online02 Jul 2023
Publication process dates
Accepted27 Jun 2023
Deposited12 Jul 2023
Publisher's version
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Output statusPublished
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