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Variable stiffness hip joint for lower-limb exoskeletons

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


Sophia Otálora

Hector A Moreno

Marcela Múnera

Carlos A Cifuentes


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.


Otálora, S., Moreno, H. A., Múnera, M., & Cifuentes, C. A. (in press). Variable stiffness hip joint for lower-limb exoskeletons.

Conference Name 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Conference Location Heidelberg, Germany
Start Date Sep 1, 2024
End Date Sep 4, 2024
Acceptance Date Apr 30, 2024
Deposit Date Jul 2, 2024
Keywords Index Terms-Passive joint; exoskeleton; mechanical design
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