An exoskeleton designed for use by paraplegic users, aimed at restoring walking capabilities and aiding in rehabilitation process.
The exoskeleton is equipped with four actuated joints placed in hips and knees, which is a minimal set of actuators enabling paraplegic operators to walk, stand up and sit down with use of crutches. The exoskeleton dimensions adjustment and actuators power are sufficient to be successfully used by majority of population of weight up to 180 lbs.
A novel statically stable gait pattern can be used by paraplegic subjects to restore locomotion even when the ankle joint is not actuated. Proposed gait trajectory enables control of the step length (up to 1.6 ft) and locomotion velocity.
The exoskeleton’s computer analyzes current user posture, and based on input from the user or operator, executes movements that will not cause the user to fall.