Zhi-Heng Zha

An Underactuated Hip Exoskeleton to Assist Hip Joints Driven by a Single-Series Elastic Actuator

Conventional hip exoskeletons typically employ multiple actuators to provide effective assistance to the corresponding joint, leading to an increase in the weight of the exoskeleton. Underactuated designs reduce the number of actuators, thereby lowering system weight and cost. However, existing single-motor underactuat...