Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be personalized to accommodate differences in impairments among individuals with spinal cord injuries (SCI). In hardware, this personalization is accomplished by a modular approach that allows the reconfiguration of a lower-limb exoskeleton with ultimately eight powered series actuated (SEA) joints and high fidelity torque control. For SCI individuals with an incomplete lesion and sufficient hip control, we applied a trajectory-free neuromuscular control (NMC) strategy and used the exoskeleton in the ankle-knee configuration. For complete SCI individuals, we used a combination of a NMC and an impedance based trajectory tracking strategy with the exoskeleton in the ankle-knee-hip configuration. Results of a preliminary evaluation of the developed hardware and software showed that SCI individuals with an incomplete lesion could naturally vary their walking speed and step length and walked faster compared to walking without the device. SCI individuals with a complete lesion, who could not walk without support, were able to walk with the device and with the support of crutches that included a push-button for step initiation Our results demonstrate that an exoskeleton with modular hardware and control allows SCI individuals with limited or no lower limb function to receive tailored support and regain mobility.

mano: A Wearable Hand Exoskeleton for Activities of Daily Living and Neurorehabilitation

Inaki Asier Iturrate Gil, Serafeim Perdikis, Luca Randazzo

Hand sensorimotor impairments are among the most common consequences of injuries affecting the central and peripheral nervous systems, leading to a drastic reduction in the quality of life for affected individuals. Combining wearable robotic exoskeletons and human-machine interfaces is a promising avenue for the restoration and substitution of lost and impaired functions for these users. In this study, we present a novel hand exoskeleton, mano, designed to assist and restore hand functions of people with motor disabilities during activities of daily living (ADL) and in neurorehabilitative scenarios. Compared to state-of-the-art devices, our system is fully wearable, portable and minimally obtrusive on the hand. The exoskeleton can actively control flexion and extension of all fingers, while allowing natural somatosensorial interactions with the environment surrounding the users. We evaluated the device from four different perspectives. A mechanical characterization, showing that the exoskeleton can cover more than 70% of healthy hand workspace and it can achieve forces at the fingertips sufficient for ADL. A functional characterization, where we showed how two users who suffered from spinal cord injuries were able to perform several ADL for the first time since their accidents. Thirdly, we evaluated the system from a neuroimaging perspective, showing that the device can elicit EEG brain patterns typical of natural hand motions. We finally exemplified the control of the hand exoskeleton within an exemplar framework, a brain-machine interface scenario, showing how motor intention can be successfully decoded for a continuous control of the device. Overall, our results showed that the device represents an ecological solution for use both in ADL and in scenarios aimed at promoting sensorimotor recovery.

Ieee-Inst Electrical Electronics Engineers Inc2018

Neuroprosthetics to support impaired hand functions: A multidisciplinary approach combining brain-machine interfaces and wearable exoskeletons

Luca Randazzo

Neuroprosthetics, the discipline that aims at interfacing neural systems to artificially engineered devices, has witnessed in recent years important advancements towards the ultimate goal of augmenting and restoring human functions through technology and artificial systems. Research in this field covers a wide range of efforts, from advancing our basic understanding of the neural processes involved into human sensory, motor and cognitive functions, to developing artificial intelligence algorithms for their decoding, to the physical interfacing between artificial devices and the human nervous system and biomechanics. Ultimately, this discipline aims at fusing these systems in order to restore, replace and rehabilitate lost and impaired functions due to motor disabling conditions or traumatic accidents. In this thesis, I present a multidisciplinary approach that aimed at developing a neuroprosthesis for the assistance and restoration of hand functions impaired by neurological disorders or traumatic accidents, such as cerebrovascular accidents and spinal cord injuries. These efforts encompassed the conceptualization and development of a robotic hand exoskeleton and brain-machine interface (BMI) algorithms for its control. Specifically, this thesis focused on the design, development and testing of (i) a novel mechatronic hand exoskeleton to assist hand motions within domestic and clinical settings, (ii) non-invasive BMI approaches based on electroencephalography (EEG) to decode neural correlates of intended hand movements, and on (iii) the closed-loop integration of the proposed exoskeleton and BMI for the sake of providing continuous feedback about ongoing neural modulations through hand motions and to trigger sensorimotor rehabilitation within clinical scenarios. Results showed that the proposed mechatronic system can successfully control hand opening and closing within a fully wearable, portable and lightweight package. The system was tested with users who suffered from motor disabling impairments, showing that it could help them in performing several activities of daily living for the first time since their accidents. From a brain-machine interfacing perspective, this work shows how imagined hand movements can be decoded, through EEG, in parallel with exoskeleton-induced motions, with important implications for the development of more embodied human-machine interaction protocols. Finally, this work shows how the closed-loop control of exoskeleton motions by means of the decoded ongoing neural activity enhances the discriminability of sensorimotor neural patterns and improves the performance of the brain-machine control channel. Overall, the results presented here represent important advancements within the field of neuroprosthetics, with interesting implications for the development of assistive exoskeletal technologies and non-invasive brain-machine interfaces aimed at controlling such systems in clinical or domestic settings, for both assistive and neurorehabilitative purposes.

EPFL2018

Wearable exoskeletons to support ambulation in people with neuromuscular diseases, design rules and control

Amalric Louis Ortlieb

Neuromuscular diseases are degenerative and, thus far, incurable disorders that lead to large muscle wasting. They result in constant deterioration of activities of daily living and in particular of ambulation. Some common types include Duchenne muscular dystrophy, Charcot-Marie-Tooth disease, polymyositis and amyotrophic lateral sclerosis. While these diseases individually have a low rate of occurrence and are mostly unknown to most people, collectively they affect a significant part of the population. About 1 person in 2000 suffer from neuromuscular diseases, which means an approximate total of 370â000 people over the European continent. Recent technology breakthroughs have made possible the realization of advanced powered orthotics, which are commonly called exoskeletons. The most advanced devices have successfully been able to support patients in walking despite a debilitating condition such as complete spinal cord injury. Such technology could be ideal for people with mid-stage neuromuscular diseases as it provides more mobility and independence. This work investigates the definitions and requirements that would need to be fulfilled for any proposed orthotic device to assist people living with neuromuscular diseases. To define the needs of patients with neuromuscular disease, a large literature review is conducted on gait compensation patterns. The research also includes the data collection of experimental gait measurements from fourteen people with heterogeneous neuromuscular diseases. Conclusions show that orthotics for people with neuromuscular diseases require tunable assistance at each joint and a collaborative control strategy in order to let the user control motion. Eventually, most people may not be able to use crutches. A full lower limb exoskeleton, AUTONOMYO, is designed, realized and evaluated. A particular attention is put on the optimization of the actuator and transmission units. In order to reduce the effects of inertia and weight of those units, a design is explored with actuation remotely located from the joints. The transmission is realized by custom cable wire and pulley systems, combined with standard planetary gears. The dynamics of different coupling between the hip and the knee flexion/extension joints are explored, and their benefits and tradeoffs analyzed. A novel control strategy based on a finite-state active impedance model is designed and implemented on the AUTONOMYO device. The controller consists of three states of different active impedances mimicking a visco-elastic behavior. The switching condition between states is uniquely based on the hip flexion velocity to detect the user intent. The performance of the strategy regarding the detection of intention and the modulation of the assistance is evaluated on a test bench and in real conditions with healthy pilots and with a person with limb girdle muscular dystrophy. The preliminary results are promising since all pilots (including the one with muscular dystrophy) are able to initiate and terminate assisted walking on demand. They are all able both to walk with a good stride rate and to reach moderate velocities. Healthy pilots are able to ambulate alone with the exoskeleton, while the pilot with muscular dystrophy requires human assistance for the management of balance.

EPFL2019