Customizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: 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 18.9 s to 11.8 s 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.