Design and Preliminary Validation of a Lightweight Powered Exoskeleton During Level Walking for Persons With Paraplegia

Abstract

Upright-legged locomotion is a desirable ability for people with paraplegia. This paper introduces a newly developed lightweight powered exoskeleton (LIPE) for level walking and posture transfer of people with paraplegia using a user-centered design concept, which integrates the requirements of practical use, mechanical structure, and control system. The LIPE was evaluated with two subjects through several experimental tasks including kinematics and dynamics analysis in a local hospital. Results of functional evaluation showed that these subjects received the exoskeleton intervention well and the LIPE could provide appropriate gait assistance to the wearer during level walking, it could also help the wearer achieve the posture transfer from sitting to standing or from standing to sitting independently. Moreover, an endurance test also indicated that LIPE allows wearers to use it continuously for a long time. It is lightweight, cost effective, easy to use, and practical for people with paraplegia in their daily lives.