ArticleBiomimetics (Basel, Switzerland)2026
Design and Evaluation of a Trunk-Limb Robotic Exoskeleton for Gait Rehabilitation in Cerebral Palsy.
Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Most pediatric exoskeletons for cerebral palsy (CP) focus on lower-limb assistance and neglect trunk control, limiting rehabilitation outcomes. This study presents a self-aligning trunk-limb exoskeleton that integrates trunk stabilization with active lower-limb support. The design includes a hip-waist rapid adjustment mechanism, a bioinspired gear-rolling knee joint, modular thigh-shank structures, a trunk support module, and a body-weight support device. To enable transparent and coordinated assistance under pathological gait conditions, a continuous gait progress-based multi-joint control framework is developed. Joint motion is described as continuous gait progress over the full gait cycle (0-100%), and joint-specific progress estimates are fused into a unified system-level reference using observability-weighted circular statistics. Inter-joint coordination is achieved through phase-consistency-based temporal modulation implemented, enabling smooth synchronization while preserving joint-level autonomy and motion continuity. Technical evaluation-comprising kinematic misalignment analysis, simulation validation, and gait trials-demonstrated a 66.8% reduction in hip misalignment and an 87.4% reduction in knee misalignment. Gait parameters under exoskeleton-assisted walking closely matched baseline walking, confirming natural kinematic preservation without interference. These results indicate that the proposed trunk-limb exoskeleton improves human-robot synergy, enhances postural stability, and provides a promising solution for pediatric gait rehabilitation in CP.
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