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Related Experiment Video

Updated: Nov 22, 2025

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
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Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal

C Meijneke, G van Oort, V Sluiter

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |January 8, 2021
    PubMed
    Summary

    This study presents the Symbitron exoskeleton, a modular lower limb device for spinal cord injury (SCI) patients. It enables personalized mobility restoration, allowing individuals with varying impairments to walk with tailored support.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Neuroscience

    Background:

    • Spinal cord injury (SCI) often results in significant lower limb mobility impairment.
    • Existing assistive devices may lack personalization for diverse SCI-related functional deficits.
    • Modular robotic exoskeletons offer potential for adaptable rehabilitation solutions.

    Purpose of the Study:

    • To design, control, and evaluate the Symbitron, a modular lower limb exoskeleton for individuals with SCI.
    • To personalize the exoskeleton's configuration and control for different levels of SCI.
    • To assess the device's effectiveness in restoring walking function and mobility.

    Main Methods:

    • Developed a modular lower limb exoskeleton with up to eight powered series-actuated joints and high-fidelity torque control.
    • Implemented personalized control strategies: trajectory-free neuromuscular control (NMC) for incomplete SCI, and NMC with impedance-based trajectory tracking for complete SCI.
    • Conducted preliminary evaluations with individuals with incomplete and complete SCI.

    Main Results:

    • Individuals with incomplete SCI demonstrated natural gait adjustments (speed, step length) and faster walking speeds.
    • Individuals with complete SCI, previously unable to walk unaided, achieved ambulation with the exoskeleton and crutches.
    • The modular design and personalized control facilitated tailored support for diverse SCI impairments.

    Conclusions:

    • The Symbitron exoskeleton provides a modular and customizable approach to mobility restoration for SCI individuals.
    • Personalized hardware and control strategies enhance walking ability and independence.
    • This technology holds promise for improving quality of life and functional recovery in the SCI population.