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.

中文翻译：

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Symbitron外骨骼：针对不完整和完整的脊髓损伤个体的模块化外骨骼的设计，控制和评估

在本文中，我们介绍了Symbitron外骨骼的设计，控制和初步评估，Symbitron外骨骼是为脊髓损伤患者开发的下肢模块化外骨骼。可以对机械和电气配置以及控制器进行个性化设置，以适应脊髓损伤（SCI）个体之间在损伤方面的差异。在硬件方面，这种个性化是通过模块化方法实现的，该方法允许重新配置下肢外骨骼，并最终配置八个动力串联致动（SEA）关节和高保真扭矩控制。对于病变不完全且髋关节控制充分的SCI个人，我们应用了无轨迹神经肌肉控制（NMC）策略，并在踝膝结构中使用了外骨骼。对于完整的SCI个人，我们将NMC和基于阻抗的轨迹跟踪策略结合使用，并将外骨骼置于踝-膝-髋构型中。对已开发的硬件和软件的初步评估结果表明，病灶不完整的SCI个人可以自然地改变他们的行走速度和步长，与没有设备行走相比，行走速度更快。具有完整病变的SCI个体，如果没有支撑就无法行走，能够与设备一起行走，并在拐杖的支持下行走，拐杖包括用于启动步骤的按钮。我们的结果表明，具有模块化硬件和控制功能的外骨骼使SCI个体下肢功能有限或没有下肢功能的人，可以获得定制的支持并恢复活动能力。对已开发的硬件和软件的初步评估结果表明，病灶不完整的SCI个人可以自然地改变他们的行走速度和步长，与没有设备行走相比，行走速度更快。具有完整病变的SCI个体，如果没有支撑就无法行走，能够与设备一起行走，并在拐杖的支持下行走，拐杖包括用于启动步骤的按钮。我们的结果表明，具有模块化硬件和控制功能的外骨骼使SCI个体下肢功能有限或没有下肢功能的人，可以获得定制的支持并恢复活动能力。对已开发的硬件和软件的初步评估结果表明，病灶不完整的SCI个人可以自然地改变他们的行走速度和步长，与没有设备行走相比，行走速度更快。具有完整病变的SCI个体，如果没有支撑就无法行走，能够与设备一起行走，并在拐杖的支持下行走，拐杖包括用于启动步骤的按钮。我们的结果表明，具有模块化硬件和控制功能的外骨骼使SCI个体下肢功能有限或没有下肢功能的人，可以获得定制的支持并恢复活动能力。