Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation
Joint Authors
Swinnen, Eva
Junius, Karen
Degelaen, Marc
Lefeber, Nina
Vanderborght, Bram
Lefeber, Dirk
Source
Applied Bionics and Biomechanics
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-16
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
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 was able to actually reduce user metabolic consumption.
Preservation of the 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 and 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 when they are walking with the novel hip exoskeleton.
American Psychological Association (APA)
Junius, Karen& Degelaen, Marc& Lefeber, Nina& Swinnen, Eva& Vanderborght, Bram& Lefeber, Dirk. 2017. Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation. Applied Bionics and Biomechanics،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1121062
Modern Language Association (MLA)
Junius, Karen…[et al.]. Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation. Applied Bionics and Biomechanics No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1121062
American Medical Association (AMA)
Junius, Karen& Degelaen, Marc& Lefeber, Nina& Swinnen, Eva& Vanderborght, Bram& Lefeber, Dirk. Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation. Applied Bionics and Biomechanics. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1121062
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1121062