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Mobility limitations are common among adults with neurological disorders and children with cerebral palsy. These limitations affect the physical, psychological, and social aspects of their lives. Though wearable exoskeletons have been commercially available for gait assistance and rehabilitation in adults, similar robotic assistive exoskeletons for children are limited.

In this project, we aim to develop a custom, light-weight pediatric exoskeleton for children with mobility limitations, allowing personalization of care to promote their functional improvement and improve the quality of lives. The development of the pediatric exoskeleton requires expertise across diverse fields, including but not limited to: clinical rehabilitation robotics, electromechanical design, human-machine interaction, control theory and network communication. This work presents the control architecture and …