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dc.contributor.author
Schrade, Stefan O.
dc.contributor.author
Dätwyler, Katrin
dc.contributor.author
Stücheli, Marius
dc.contributor.author
Studer, Kathrin
dc.contributor.author
Türk, Daniel-Alexander
dc.contributor.author
Meboldt, Mirko
dc.contributor.author
Gassert, Roger
dc.contributor.author
Lambercy, Olivier
dc.date.accessioned
2018-05-04T07:52:27Z
dc.date.available
2018-05-04T07:52:27Z
dc.date.issued
2018
dc.identifier.other
10.1186/s12984-018-0360-4
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/262336
dc.identifier.doi
10.3929/ethz-b-000251687
dc.description.abstract
Background Powered exoskeletons are a promising approach to restore the ability to walk after spinal cord injury (SCI). However, current exoskeletons remain limited in their walking speed and ability to support tasks of daily living, such as stair climbing or overcoming ramps. Moreover, training progress for such advanced mobility tasks is rarely reported in literature. The work presented here aims to demonstrate the basic functionality of the VariLeg exoskeleton and its ability to enable people with motor complete SCI to perform mobility tasks of daily life. Methods VariLeg is a novel powered lower limb exoskeleton that enables adjustments to the compliance in the leg, with the objective of improving the robustness of walking on uneven terrain. This is achieved by an actuation system with variable mechanical stiffness in the knee joint, which was validated through test bench experiments. The feasibility and usability of the exoskeleton was tested with two paraplegic users with motor complete thoracic lesions at Th4 and Th12. The users trained three times a week, in 60 min sessions over four months with the aim of participating in the CYBATHLON 2016 competition, which served as a field test for the usability of the exoskeleton. The progress on basic walking skills and on advanced mobility tasks such as incline walking and stair climbing is reported. Within this first study, the exoskeleton was used with a constant knee stiffness. Results Test bench evaluation of the variable stiffness actuation system demonstrate that the stiffness could be rendered with an error lower than 30 Nm/rad. During training with the exoskeleton, both users acquired proficient skills in basic balancing, walking and slalom walking. In advanced mobility tasks, such as climbing ramps and stairs, only basic (needing support) to intermediate (able to perform task independently in 25% of the attempts) skill levels were achieved. After 4 months of training, one user competed at the CYBATHLON 2016 and was able to perform 3 (stand-sit-stand, slalom and tilted path) out of 6 obstacles of the track. No adverse events occurred during the training or the competition. Conclusion Demonstration of the applicability to restore ambulation for people with motor complete SCI was achieved. The CYBATHLON highlighted the importance of training and gaining experience in piloting an exoskeleton, which were just as important as the technical realization of the robot.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
BioMed Central Ltd.
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Powered exoskeleton
en_US
dc.subject
Spinal cord injury
en_US
dc.subject
Overground walking
en_US
dc.subject
Powered gait orthosis
en_US
dc.subject
Wearable robotics
en_US
dc.subject
Variable stiffness actuation
en_US
dc.subject
Variable impedance actuation
en_US
dc.subject
Exoskeleton training
en_US
dc.title
Development of VariLeg, an exoskeleton with variable stiffness actuation: First results and user evaluation from the CYBATHLON 2016
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
dc.date.published
2018-03-13
ethz.journal.title
JOURNAL OF NEUROENGINEERING AND REHABILITATION
ethz.journal.volume
15
en_US
ethz.journal.issue
1
en_US
ethz.pages.start
18
en_US
ethz.size
18 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
London
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03827 - Gassert, Roger / Gassert, Roger
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03827 - Gassert, Roger / Gassert, Roger
en_US
ethz.date.deposited
2018-03-22T04:12:09Z
ethz.source
FORM
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-05-04T07:52:38Z
ethz.rosetta.lastUpdated
2019-01-02T12:59:14Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/262139
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/251687
ethz.COinS
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