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Bilateral, misalignment compensating, full-DOF hip exoskeleton: design and kinematic validation
Tijdschriftbijdrage - Tijdschriftartikel
A shared design goal for most robotic lower limb
exoskeletons is to reduce the metabolic cost of locomotion for
the user. Despite this, only a limited amount of devices were
able to actually reduce user metabolic consumption. Maintaining
of natural motion kinematics was defined as an important
requirement for a device to be metabolically beneficial. This
requires the inclusion of all human degrees of freedom (DOF)
in a design, as well as perfect alignment of the rotation axes.
As perfect alignment is impossible, compensation for misalignment
effects should be provided. A misalignment compensation
mechanism for a 3-DOF system is presented in this paper. It is
validated by the implementation in a bilateral hip exoskeleton
resulting in a compact, lightweight device that can be donned
fast and autonomously with a minimum of required adaptations.
Extensive testing of the prototype has shown that hip range of
motion of the user is maintained while wearing the device and
this for all three hip DOFs. This allowed the users to maintain
their natural motion patterns while walking with the novel hip
exoskeleton.
exoskeletons is to reduce the metabolic cost of locomotion for
the user. Despite this, only a limited amount of devices were
able to actually reduce user metabolic consumption. Maintaining
of natural motion kinematics was defined as an important
requirement for a device to be metabolically beneficial. This
requires the inclusion of all human degrees of freedom (DOF)
in a design, as well as perfect alignment of the rotation axes.
As perfect alignment is impossible, compensation for misalignment
effects should be provided. A misalignment compensation
mechanism for a 3-DOF system is presented in this paper. It is
validated by the implementation in a bilateral hip exoskeleton
resulting in a compact, lightweight device that can be donned
fast and autonomously with a minimum of required adaptations.
Extensive testing of the prototype has shown that hip range of
motion of the user is maintained while wearing the device and
this for all three hip DOFs. This allowed the users to maintain
their natural motion patterns while walking with the novel hip
exoskeleton.
Tijdschrift: Applied Bionics & Biomechanics
ISSN: 1176-2322
Volume: 2017
Jaar van publicatie:2017
Trefwoorden:misalignment compensation, hip exoskeleton, kinematic compatibility
CSS-citation score:1
Auteurs:Regional
Toegankelijkheid:Open