Design and Evaluation of a Single-Sided Mobility Assistive Exoskeleton (SMAEXO) for Hemiplegia

This study presents the Single-Sided Mobility Assistive Exoskeleton (SMAEXO), a novel, single-sided, multijoint device designed to enhance mobility and rehabilitation for individuals with hemiplegia. SMAEXO provides active assistance at the hip and knee, combined with a passive, flexible ankle joint to prevent foot drop, ensuring comprehensive support throughout the gait cycle. Its innovative design optimizes reaction force support and weight distribution, promoting balance and reducing strain on the affected side. Additionally, its modular, customizable design accommodates diverse body dimensions and biomechanical needs, while safety features such as self-locking mechanisms, cushions, bumpers, and elastic components enhance user safety and comfort. The SMAEXO's usability, comfort, safety, and assistance were assessed through trials with eight able-bodied participants, including physiotherapists simulating stroke gait patterns. Participants reported the device as comfortable, safe, and effective, highlighting its benefits during level and slope walking and obstacle negotiation. Notable feedback included the need for enhanced ventilation, reduced device weight, and improved ease of donning and doffing. The results demonstrate SMAEXO's potential to deliver comprehensive multi-joint assistance for individuals with hemiplegia. This work contributes to advancing rehabilitation and assistive technologies for post-stroke individuals, enabling more effective and personalized mobility support.