Powered Exoskeleton

The Development of a Powered Lower-Limb Exoskeleton for Paraplegia

The Vanderbilt Exoskeleton has been developed to provide gait assistance to the spinal cord injured population. Clinical evaluations have validated its ability to restore legged mobility to individuals with complete paraplegia, including the following functionalities: Walking, standing, sit-to-stand, stand-to-sit, stair ascent and descent.

The exoskeleton weighs 27 pounds and has been tested on users up to 200 pounds in weight. It uses onboard embedded microprocessors and sensors to determine the user's current state and intentions and provides joint torques at the hips and knees to generate motion.

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Vanderbilt Exoskeleton

 

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Publications

  • A Preliminary Assessment of Mobility and Exertion in a Lower Limb Exoskeleton for Persons with Paraplegia, R. Farris, H. Quintero, and M. Goldfarb, IEEE/ASME Transactions on Neural Systems and Rehabilitation Engineering, in review, November 2011.

  • A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons with Paraplegia, R. Farris, H. Quintero, and M. Goldfarb, ASME Journal of Medical Devices, in review, September 2011.

  • Preliminary Evaluation of a Powered Lower Limb Orthosis to Aid Walking in Paraplegic Individuals, R. Farris, H. Quintero, and M. Goldfarb, IEEE/ASME Trans. on Neural Systems and Rehabilitation Engineering, accepted, July 2011 .

  • A Powered Lower Limb Orthosis for Providing Legged Mobility in Paraplegic Individuals, H. Quintero, R. Farris, C. Hartigan, I. Clesson, and M. Goldfarb, Topics in Spinal Cord Injury Rehabilitation, American Spinal Injury Association, vol. 17, no. 1, pp. 25-33, summer 2011.

  • Control and Implementation of a Powered Lower Limb Orthosis to Aid Walking in Paraplegic Individuals, R. Farris, H. Quintero, and M. Goldfarb, 2011 IEEE International Conference on Rehabilitation Robotics, pp. 1-6, July 2011.

  • Feasibility of a Hybrid-FES System for Gait Restoration in Paraplegics, H. Quintero, R. Farris, W. Durfee, and M. Goldfarb, 2010 IEEE International Conference of Engineering in Medicine and Biology Society, pp. 483-486, September 2010.

  • Design of a Multi-Disc Electromechanical Brake, R. Farris and M. Goldfarb, IEEE/ASME Transactions on Mechatronics, vol. PP, iss. 99, pp. 1-9, 2010 .

  • Design of a Multi-Disc Electromechanical Modulated Dissipator, R. Farris and M. Goldfarb, 2010 IEEE International Conference on Robotics and Automation, May 2010.

  • Design of a Joint-Coupled Orthosis for FES-Aided Gait, R. Farris, H. Quintero, T. Withrow, and M. Goldfarb, 2009 IEEE International Conference on Rehabilitation Robotics, pp.246-252, April 2009.

  • Design and Simulation of a Joint-Coupled Orthosis for Regulating FES-Aided Gait, R. Farris, H. Quintero, T. Withrow, and M. Goldfarb, 2009 IEEE International Conference on Robotics and Automation, pp.1916-1922, May 2009.