Characteristics of a Lower Limb Exoskeleton for Gait and Stair Climbing Therapies

  • Dante A. EliasEmail author
  • Diego Cerna
  • Christian Chicoma
  • Renato Mio
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 71)


The first exoskeleton development in Peru was performed at Pontificia Universidad Católica del Perú (PUCP), supported by health professionals, with the aim of treating locomotion disability which is the second main limitation affecting Peruvians these days. It is a lower limb exoskeleton for assisting normal gait and stair climbing in the sagittal plane whose dynamic model was obtained from data collected from over 40 Peruvian young adults. The proposed mechanical design is a hip-knee-ankle device that is electrically actuated and which also allows for passive rotation of hip and ankle in the frontal plane. Additionally, the system includes a trolley and a telescopic guide which allow for horizontal and vertical movement of patient’s center of mass; therefore, these parameters can also be controlled in order to obtain customized therapies. Currently, a simplified model of this design is being implemented in order to verify exoskeleton proper behavior and its response to control system commands.


Lower limb Exoskeleton Normal gait 



This work was supported by Innovate Peru, an entity of the Government of Peru, through grant No 203-FINCyT-IA-2013, and by Dirección de Gestión de la Investigacion (DGI-PUCP).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Dante A. Elias
    • 1
    Email author
  • Diego Cerna
    • 1
  • Christian Chicoma
    • 1
  • Renato Mio
    • 1
  1. 1.Laboratory of Research in Biomechanics and Applied Robotics, Department of Mechanical EngineerPontificia Universidad Católica del PerúLimaPeru

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