Customizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: Case Series

Area of Science:

• Biomedical Engineering
• Rehabilitation Robotics
• Neuroscience

Background:

• Individuals with severe neuromuscular deficits often face significant mobility challenges.
• Existing assistive devices may not adequately address the unique needs of highly impaired individuals.
• Task-agnostic controllers offer potential for versatile exoskeleton assistance.

Purpose of the Study:

• To customize and validate a task-agnostic bilateral knee exoskeleton controller.
• To target primary neuromuscular deficits in individuals with post-polio syndrome (PPS) and multiple sclerosis (MS).
• To develop a user-friendly interface for gait parameter tuning.

Main Methods:

• Leveraged biomechanics-based controller structure for specialized modifications.
• Targeted primary gait deficits in participants with PPS and MS.
• Utilized an Android interface for clinician-friendly parameter tuning.

Main Results:

• Customized assistance improved primary mobility deficits for both participants.
• Reduced five-times-sit-to-stand time for the PPS participant (18.9s to 11.8s).
• Restored normative knee flexion and reduced circumduction in the MS participant.

Conclusions:

• A biomechanics-based, task-agnostic exoskeleton controller can be effectively customized.
• Specialized modifications and interface-based tuning enable targeted improvements.
• This approach addresses the unique mobility deficits of highly impaired individuals.