# Terrain Imaging and Adaptive Control of Exoskeletons

> **NIH NIH R44** · INNOVATIVE DESIGN LABS, INC. · 2021 · $877,203

## Abstract

Project Summary/Abstract
Proposed is a system to enhance the capabilities, safety, and accessibility of exoskeletons through innovative
3D imaging and adaptive control. Significance: Medical exoskeletons are an exciting and emerging
technology that can be found at over 270 rehabilitation centers around the world. Clinical evidence has shown
that rehabilitation with exoskeletons can improve functional balance outside of the exoskeleton in people with
motor incomplete SCI and can improve walking distance and gait speed for people recovering from a stroke at
discharge compared to admission. While exoskeletons are sophisticated systems that have matured
significantly and demonstrated clinical utility over the years, they are still primarily restricted to ambulating in a
straight-line fashion across level flooring while aided by a physical therapist. Hypothesis: Our proposal aims to
provide exoskeletons with the ability to traverse uneven terrain including slopes and staircases inside and
outside of clinical settings and in the presence of obstacles. The system will fuse imaging information with the
suit’s kinematic information and ground contact sensing to provide the exoskeleton’s control system and
actuators with the required feedback to continuously adapt its balance and gait parameters to approach ground
surfaces, dynamically adjusting to slopes & steps, avoiding tripping, or notifying the user that further forward
movement is unsafe or unachievable. Specific Aims: In Phase II, IDL and its collaborators will: (1) Develop
production-ready terrain sensing and actuator hardware and firmware, (2) Incorporate and integration test the
system with an exoskeleton control system, and (3) Perform a human study and evaluation of the system.

## Key facts

- **NIH application ID:** 10255357
- **Project number:** 1R44HD105512-01
- **Recipient organization:** INNOVATIVE DESIGN LABS, INC.
- **Principal Investigator:** Adam Becker
- **Activity code:** R44 (R01, R21, SBIR, etc.)
- **Funding institute:** NIH
- **Fiscal year:** 2021
- **Award amount:** $877,203
- **Award type:** 1
- **Project period:** 2021-07-15 → 2023-06-30

## Primary source

NIH RePORTER: https://reporter.nih.gov/project-details/10255357

## Citation

> US National Institutes of Health, RePORTER application 10255357, Terrain Imaging and Adaptive Control of Exoskeletons (1R44HD105512-01). Retrieved via AI Analytics 2026-05-25 from https://api.ai-analytics.org/grant/nih/10255357. Licensed CC0.

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