Design and First Operation of an Active Lower Limb Exoskeleton with Parallel Elastic Actuation

The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait. The prototype was tested in sit-to-stand and gai...

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Bibliographic Details
Published inActuators Vol. 10; no. 4; p. 75
Main Authors Penzlin, Bernhard, Bergmann, Lukas, Li, Yinbo, Ji, Linhong, Leonhardt, Steffen, Ngo, Chuong
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.04.2021
Subjects
Actuation
Actuators
compliant actuators
Design
exoskeleton design
Exoskeletons
Experiments
Fitness equipment
Gait
Hip joint
lower limb exoskeleton
Modulus of elasticity
parallel elastic actuators
Paralysis
Patients
Range of motion
rehabilitation robotics
Robotics
Trajectory control
Velocity
Germany
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Summary:The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait. The prototype was tested in sit-to-stand and gait trials, in which the actuators were cascade-controlled with position trajectories. The compliant actuation of the hip in gait experiments proved to be more efficient; the peak torque was reduced by up to 31% and the RMS power was reduced by up to 36%.
ISSN:2076-0825
2076-0825
DOI:10.3390/act10040075