Design and Preliminary Assessment of a Passive Elastic Leg Exoskeleton for Resistive Gait Rehabilitation

Abstract

Objective: This article aimed to develop a unique exoskeleton to provide different types of elastic resistances (i.e., resisting flexion, extension, or bidirectionally) to the leg muscles during walking. Methods: We created a completely passive leg exoskeleton, consisting of counteracting springs, pulleys, and clutches, to provide different types of elastic resistance to the knee. We first used a benchtop setting to calibrate the springs and validate the resistive capabilities of the device. We then tested the device's ability to alter gait mechanics, muscle activation, and kinematic aftereffects when walking on a treadmill under the three resistance types. Results: Benchtop testing indicated that the device provided a nearly linear torque profile and could be accurately configured to alter the angle where the spring system was undeformed (i.e., the resting position). Treadmill testing indicated the device could specifically target knee flexors, extensors, or both, and increase eccentric loading at the joint. Additionally, these resistance types elicited different kinematic aftereffects that could be used to target user-specific spatiotemporal gait deficits. Conclusion: These results indicate that the elastic device can provide various types of targeted resistance training during walking. Significance: The proposed elastic device can provide a diverse set of resistance types that could potentially address user-specific muscle weaknesses and gait deficits through functional resistance training.