Modeling, Optimization, and Control Methods for a Personalized Hybrid Walking Exoskeleton
Spinal Cord Injuries, Paraplegia, Spinal, Paraplegia, Incomplete
About this trial
This is an interventional other trial for Spinal Cord Injuries focused on measuring Rehabilitative Robotics, Exoskeleton, Hybrid Neuroprosthesis, Spinal Cord Injury, Functional Electrical Stimulation, Ultrasound, Muscular Fatigue
Eligibility Criteria
Inclusion criteria for persons with SCI:
- Participants will be men and women age 18-60 and have a primary diagnosis of complete or incomplete spinal cord injury, weigh less than 220 pounds (100kg), free from acute illness, and be at least 1 year post injury.
- Individuals with injury between T-1 and T-10 level will be recruited (injury level for each participant will be assessed by a therapist on ASIA scale).
- Medically stable with medical clearance for participation, no evidence of cardiopulmonary or pulmonary disease, severe spasticity, asymmetric hip positions.
- Individuals who regularly bear weight bear during transfers (either with or without braces) so that we are using people who are accustomed to bearing weight on their lower limbs
- The subjects who have experience in using some kind of walking assistive devices in the past or recently will be recruited.
- Subjects must have at least one lower limb muscle group respond to FES.
Inclusion criteria for persons without SCI:
- Subjects will be included if they are between the ages of 18 and 60 and weigh less than 220 lbs (100kg).
- Healthy, are able to walk normally, are able to sit patiently for 4 hours.
- People who pass an assessment of safety by Dr. Cleveland. This would be a screen done by Dr. Cleveland after consent to determine if person is eligible. The proposed research will exclude children and pregnant women. We first aim to collect research data from adults as the proposed methods in the study have not been investigated on children and pregnant women.
Exclusion criteria for persons with SCI:
- Subjects with other neuromuscular disease such as polio, stroke or multiple sclerosis.
- Persons with heart conditions and pacemakers will be excluded.
- Concurrent severe medical disease, pressure sores, open wounds, existing infection, unstable spine, unhealed limb or pelvic fractures, history of recurrent fractures, known orthopedic injury to lower extremities, and osteoporosis.
- Subjects with SCI who have open wounds, weight if with weight exceeds more than 220lb (100kg)
- Subjects with SCI with insufficient knee or hip range of motion, i.e. contractures will be excluded. If someone has contractures it may not be possible, or safe, for them to be in the device. Persons who do not have following minimum joint angle range of motion: knee flexion from 0-80°, hip flexion from 0-45° and hip extension 0-10° will be excluded.
- Subjects who find FES uncomfortable or painful; particularly, FES of the quadriceps muscle, hamstrings muscle, and ankle muscles.
Exclusion criteria for persons without SCI: 1. A history of a neurological or an orthopedic disease that hampers normal lower limb movement 2. Persons with heart conditions and pacemakers will be excluded. 3. Any difficulty or an orthopedic condition that would impede knee extension 4. Absent sensation in lower leg 5. Subjects who find FES uncomfortable or painful; particularly, FES of the quadriceps muscle, hamstrings muscle, and ankle muscles.
Sites / Locations
- 4212C Engineering Building III 1840 Entrepreneur Dr.
Arms of the Study
Arm 1
Arm 2
Experimental
Experimental
Group A - SCI
Group B - Subjects without disability
Ten individuals with SCI at the T1-T10 level will be recruited (Group A). These individuals can have incomplete or complete paraplegia.
Twenty individuals without disability will be recruited (Group B). Individuals with SCI who have experience in using some kind of walking assistive devices in the recent past will be preferably recruited.