Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton

Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton

The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological h...

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Bibliographic Details
Main Authors: Yuntian Wang, Xiuyuan Wu, Yifan Fang, Keisuke Osawa, Kei Nakagawa, Shintaro Yamasaki, Eiichiro Tanaka
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Machines
Subjects:
lower limb exoskeleton
hip joint
kinematic–biological match
walking assistance
Online Access:https://www.mdpi.com/2075-1702/12/12/924
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Summary:The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological hip. The design utilizes three 1-DOF (Degree of Freedom) rotational joints to replicate natural hip movement. By integrating IMU data, motor compensation is dynamically made to facilitate a more natural gait. Experimental results indicate improved hip joint angles and enhanced user comfort, presenting a promising solution for better walking assistance for elderly individuals.
ISSN:2075-1702

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