Design and Preliminary Validation of a Lower Limb Exoskeleton With Compact and Modular Actuation

• Published in: IEEE access Vol. 8; pp. 66338 - 66352
• Main Authors: Li, Yinbo, Guan, Xinyu, Han, Xinyu, Tang, Zihan, Meng, Kuilin, Shi, Zhanpeng, Penzlin, Bernhard, Yang, Yilin, Ren, Junli, Yang, Ze, Li, Zhibin, Leonhardt, Steffen, Ji, Linhong
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuation; Actuators; Compact actuators; Control systems design; Exoskeletons; Hip; Human subjects; Joints (anatomy); Knee; Legged locomotion; Locomotion; lower limb exoskeletons; mechanical design; Mechanical systems; Modular design; Motion control; Paralysis; Paraplegics; prototype development; Prototypes; Spinal cord injuries; Synchronous motors; Torque; Walking; walking assistance

Geared motor-driven lower limb exoskeletons (LLEs) are widely researched to assist paraplegic patients with spinal cord injury in recovering locomotion ability. In order to achieve a compact exoskeleton joint design while avoiding increasing the mechanical complexity of the exoskeleton frame, this s...