Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance
Joint Authors
Shih, Wen-Pin
Hsieh, Ming-Hwa
Huang, Yin Hsuan
Chao, Chia-Lun
Liu, Chien-Hao
Hsu, Wei-Li
Source
Applied Bionics and Biomechanics
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-13
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In this research, we proposed a lower-limb soft exoskeleton for providing assistive forces to patients with muscle weakness during the preswing phase of a gait cycle.
Whereas conventional soft exoskeletons employ two motors to assist each leg individually, we designed a single motor for actuation.
Our design assists hip flexion for light weights and prevents some slip problems that can arise from rotary motors.
The actuation mechanism was based on a pulley system that converted the power supplied by the single motor into linear reciprocating motions of a slider.
When the single motor rotated, the slider moved linearly, first in one direction and then in the opposite direction.
The slider pulled knee braces through cables with an assistive force of 100 N.
The actuation was triggered when the system detected that the backward swing of the wearer’s thigh had ended.
A prototype was designed, fabricated, and examined with 7 subjects (average age, 24).
Subjects were measured while they wore our exoskeleton in power-off and power-on modes.
Comparisons proved that wearing the exoskeleton caused a negligible deviation of gait, and that the soft exoskeleton could reduce metabolic cost during walking.
The research results are expected to be beneficial for lightweight soft exoskeletons and integration with exosuits that provide assistive forces through the wearer’s entire gait.
American Psychological Association (APA)
Hsieh, Ming-Hwa& Huang, Yin Hsuan& Chao, Chia-Lun& Liu, Chien-Hao& Hsu, Wei-Li& Shih, Wen-Pin. 2020. Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance. Applied Bionics and Biomechanics،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1120123
Modern Language Association (MLA)
Hsieh, Ming-Hwa…[et al.]. Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance. Applied Bionics and Biomechanics No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1120123
American Medical Association (AMA)
Hsieh, Ming-Hwa& Huang, Yin Hsuan& Chao, Chia-Lun& Liu, Chien-Hao& Hsu, Wei-Li& Shih, Wen-Pin. Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance. Applied Bionics and Biomechanics. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1120123
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1120123