Variable stiffness hip joint for lower-limb exoskeletons

Otálora, Sophia; Moreno, Hector A.; Múnera, Marcela; Cifuentes, Carlos A.

Abstract

The use of robotics in rehabilitation is a growing area of research, with the potential to greatly improve the quality of life for individuals with impairments. Robotic exoskeletons, in particular, have shown promise for enhancing mobility and independence in patients with conditions such as stroke. Current exoskeleton designs, however, often lack the necessary degrees of freedom (DOFs) to provide adequate balance and support during activities of daily living (ADLs), such as walking and standing. This study proposes a new lower limb exoskeleton design incorporating a variable stiffness hip joint based on a four-bar mechanism. This joint provides additional DOFs for improved balance and stability during gait, making it easier for patients to perform ADLs. The results show that the exoskeleton effectively improves stability during gait testing. This suggests that the proposed design can greatly enhance mobility and independence in impaired patients and could be a valuable tool in rehabilitation robotics.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
• Start Date: Sep 1, 2024
• End Date: Sep 4, 2024
• Acceptance Date: Apr 30, 2024
• Online Publication Date: Oct 23, 2024
• Publication Date: Oct 23, 2024
• Deposit Date: Jul 2, 2024
• Publicly Available Date: Oct 23, 2024
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 339-344
• Book Title: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
• ISBN: 9798350386523
• DOI: https://doi.org/10.1109/biorob60516.2024.10719822
• Keywords: Index Terms-Passive joint; exoskeleton; mechanical design
• Public URL: https://uwe-repository.worktribe.com/output/12040507