Design and validation of a pediatric gait assistance exoskeleton system with fast non-singular terminal sliding mode controller

• Published in: Medical engineering & physics Vol. 123; p. 104080
• Main Authors: Narayan, Jyotindra, Abbas, Mohamed, Dwivedy, Santosha K.
• Format: Journal Article
• Language: English
• Published: England Elsevier Ltd 01.01.2024
• Subjects: Child; Computer-aided design; Double exponential reaching law; Exoskeleton Device; Fast non-singular terminal sliding; Gait - physiology; Humans; Lower Extremity; Lower-limb exoskeleton; Movement; Pediatric gait assistance; Uncertainties and disturbances; Pediatric gait assistance; Fast non-singular terminal sliding; Computer-aided design; Uncertainties and disturbances; Double exponential reaching law; Lower-limb exoskeleton

Existing exoskeletons for pediatric gait assistance have limitations in anthropometric design, structure weight, cost, user safety features, and adaptability to diverse users. Additionally, creating precise models for pediatric rehabilitation is difficult because the rapid anthropometric changes in...