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Pediatric exoskeletons offer great promise to increase mobility for childrenwith crouch gait caused by cerebral palsy. A lightweight, compliant anduser-specific actuator is critical for maximizing the benefits of anexoskeleton to users. To date, pediatric exoskeletons generally use the sameactuators as adult exoskeletons, which are heavy and resistive to naturalmovement. There is yet no easy way for robotic exoskeletons to accommodate thechanges in design requirements that occur as a child ages. We developed alightweight (1.65 kg unilateral mass) and compliant pediatric knee exoskeletonwith a bandwidth of 22.6 Hz that can provide torque assistance to children withcrouch gait using high torque density motor. Experimental results demonstratedthat the robot exhibited low mechanical impedance (1.79 Nm average backdrivetorque) under the unpowered condition and 0.32 Nm with zero-torque trackingcontrol. Root mean square (RMS) error of torque tracking result is less than0.73 Nm (5.7% with respect to 12 Nm torque). To achieve optimal age-specificperformance, we proposed the first optimization framework that considered bothmotor and transmission of the actuator system that can produce optimal settingsfor children between 3 and 18 years old. The optimization generated an optimalmotor air gap radius that monotonically increases with age from 0.011 to 0.033meters, and optimal gear ratio varies from 2.6 to 11.6 (3-13 years old) and11.6 to 10.2 (13-18 years old), leading to actuators of minimal mass.

Design and Actuator Optimization of Lightweight and Compliant Knee Exoskeleton for Mobility Assistance of Children with Crouch Gait