Ultra-lightweight robotic hip exoskeleton with anti-phase torque symmetry for enhanced walking efficiency.

ABSTRACT: This paper presents a novel robotic exoskeleton that is exceptionally lightweight and compact, while providing effective gait assistance. To maximize the system's assistance-to-weight/size ratio, the design focuses on two key aspects of human gait mechanics: (1) the contribution of the hip joints to power generation, and (2) the symmetrical nature of hip flexion and extension torques during walking. Based on these principles, we developed a compact hip exoskeleton with a single actuator. This actuator simultaneously drives the hip joint in the sagittal plane, facilitating both flexion and extension during gait. An adaptive delayed output feedback controller was implemented, ensuring consistent performance across diverse walking conditions using a single rotational sensor and actuator. To e

SUBMITTER: Lim B 

PROVIDER: S-EPMC11954954 | biostudies-literature | 2025 Mar

REPOSITORIES: biostudies-literature