Development of a Modular Exoskeleton Compatible with Assistive Devices for Activities of Daily Living

• Grant number: 26/02033-3
• Support Opportunities: Scholarships in Brazil - Doctorate
• Start date: April 01, 2026
• End date: March 31, 2030
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Ricardo Hernet Terreros Gutarra
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 24/01120-4 - Assistive Technology Center for Daily Life Activities, AP.CCD

Abstract

This research project proposes to develop and evaluate a new modular robotic exoskeleton for lower limbs, compatible with different assistive devices, based on the Exo-TAO. Initially, evaluation studies of the Exo-TAO exoskeleton will be carried out, seeking to identify the main problems in the current configuration. Subsequently, this work will study possible solutions from both a mechanical and control/actuation perspective, and develop methods to resolve the problems found, enabling the user to use the exoskeleton safely, comfortably, and efficiently. The project aims to study the materials, their properties, and their manufacturing methods, seeking a compromise between characteristics such as strength, flexibility, freedom of form, mass, and cost; in addition to a rapid prototyping methodology using 3D printing, which, together with CAE and CAD analyses, will be used for the development and refinement of the anatomical structures, the multiaxial hip joint, and other parts involved in the project. Additionally, the new exoskeleton should be compatible with other assistive devices for activities of daily living, such as wheelchairs, walkers, and others. Compatibility refers both to the mechanical coupling between them and to the integrated control of the devices. The new mechanisms developed will work in conjunction with the variable impedance control of the exoskeleton and the walker developed to support walking and promote motor rehabilitation. The new exoskeleton will be evaluated with healthy volunteers and patients with motor disabilities. (AU)