Design of a lower extremity exoskeleton for motion assistance in paralyzed individuals

In this paper, we reported innovative design of a lower extremity exoskeleton developed by The Chinese University of Hong Kong (CUHK-EXO) that can help the paralyzed individuals to regain the ability to stand up/sit down (STS) and walk. CUHK-EXO is developed with the features of ergonomic design, user-friendly interface and high safety. The CUHK-EXO hardware design including mechanical structure, electrical system, and multiple sensors is introduced first. A pair of smart crutches and smart phone App are designed as part of the human-machine interface, which can improve the intelligence of the system and make the exoskeleton easier to be used by physical therapists and paralyzed patients. Then, the CUHK-EXO control is developed with STS motion assistance. Finally, pilot trial study is conducted for a healthy subject, and testing results show that the developed CUHK-EXO can help the subject perform desired STS motions.