Customizing a Task-Agnostic Knee Exoskeleton for Targeted Neuromuscular Assistance: A Case Series

Goal : This work customizes and validates a task-agnostic bilateral knee exoskeleton controller for targeted assistance of primary neuromuscular deficits in highly impaired individuals. Methods : We leveraged the biomechanics-based structure of the default controller to implement specialized modifications, targeting primary deficits in a participant with post-polio syndrome (PPS) and a participant with multiple sclerosis (MS). We also developed a clinician-friendly Android interface to tune important gait parameters. Results : Customized assistance improved the participants' primary mobility deficits as identified by the clinician, decreasing five-times-sit-to-stand time from 18.9s to 11.8s for the PPS participant, and restoring normative knee flexion range of motion and reducing compensatory circumduction for the MS participant. The exoskeleton induced mixed effects on secondary outcomes. Conclusions : A biomechanics-based task-agnostic exoskeleton controller can be effectively customized through specialized modifications of the intuitive basis functions and interface-based tuning to provide targeted improvements in the unique mobility deficits of highly impaired individuals.