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A Lightweight Multi-Articular Passive Exoskeleton Using a Single Elastic Band to Improve Crouch Gait Pattern: A Pilot

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    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |April 27, 2026
    PubMed
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    A new lightweight, passive exoskeleton helps children with cerebral palsy (CP) achieve a more upright gait by assisting hip, knee, and ankle movement. This innovative device shows promise for improving mobility and reducing energy expenditure in children with crouch gait.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Technology
    • Pediatric Orthopedics

    Background:

    • Crouch gait in children with cerebral palsy (CP) leads to reduced mobility and increased energy use.
    • Existing interventions like surgery and orthotics require ongoing support and practice.
    • Current powered exoskeletons are often too heavy and complex for practical application.

    Purpose of the Study:

    • To develop and evaluate a novel, lightweight, passive exoskeleton for assisting children with CP and crouch gait.
    • To investigate the biomechanical effects of a single-elastic-band, multi-joint passive exoskeleton on gait parameters.

    Main Methods:

    • A lightweight, passive exoskeleton was designed with a garment-like waist belt and carbon-fiber components.
    • The device provides self-adjusting, posture-dependent torque without sensors or active control.
    • Biomechanical effects were assessed in four children with CP (GMFCS I-III) during overground walking, comparing baseline and exoskeleton conditions.

    Main Results:

    • The exoskeleton tended to increase hip extension by 3.5° and knee extension by 3.3° during the stance phase.
    • Ankle plantarflexion increased by 1.4°, indicating a more extended gait posture.
    • Joint range of motion increased: hip by 1.7°, knee by 4.2°, and ankle by 8.5°, suggesting no restriction of dynamic movement.

    Conclusions:

    • The developed passive exoskeleton is mechanically feasible for assisting a more upright gait in children with crouch gait.
    • Passive, multi-joint assistance strategies show potential for improving gait patterns in pediatric CP.
    • The lightweight, user-centric design enhances wearability and practicality for rehabilitation.