Aug 2026· Biomimetics· Vol 11, pp. 561· 0 citations· 30 references
Medicine
Abstract
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 underactuated hip exoskeletons still face challenges in achieving precise assistance and accommodating non-walking movements such as free sitting. In this work, we propose an underactuated hip exoskeleton with a series elastic actuator (SEA) and two independent cables for walking assistance. The incorporation of the SEA contributes to system safety and precise assistive force control. Furthermore, the proposed differential cable structure enables free sitting movement and allows for non-strictly symmetric hip motion. In experiments, with a target assistive force of 300 N, the proposed actuator achieves a peak force-tracking accuracy of 98.01% in walking tests, and the hip exoskeleton reduces peak muscle activation by up to 23.62% during walking.
Active knee exoskeletons should provide effective assistance while remaining lightweight and comfortable to wear. Common knee exoskeletons often place the actuator and structural components on one side of the joint, which can generate undesired interaction loads. Remote transmissions using Bowden cables may also reduce...
Yang-Shuo Yue, Bo-Yuan Yang, Yi-Wen Li et al.· 2026 IEEE 22nd International...· 0 citations
Human augmentation is an important branch of robotics research aimed at reducing metabolic energy consumption, delaying fatigue, and increasing body speed. However, existing evaluation protocols lack systematic frameworks for unpowered hip devices. This study aims to reduce the energy consumption of human movement with...
This study aims to develop a phased control strategy for a hydraulic lower-limb exoskeleton that incorporates motion intention prediction to provide effective and stable walking assistance for users.
An inertial measurement unit (IMU)-based long short-term memory (LSTM) network was developed to predict lower...
Ya-Li Han, Hong-Wei Zhong, Quan Xu et al.· Industrial robot· 0 citations
Active exoskeletons are driven by controllers, but the precision required to assist humans efficiently is still unclear. Exoskeleton controllers store commands to aid people during walking, and changes in the exoskeleton control parameters, such as quasi-stiffness, can influence gait characteristics and muscle activati...
Individuals with strokes or musculoskeletal conditions often experience a restricted shoulder range of motion, necessitating rehabilitation that is generally time-consuming, and due to high therapist workloads, patients often need to perform the exercises independently to complete their program. To address this, roboti...
Korawish Thanasit· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
