A Powered Hip Exoskeleton With High Torque Density for Walking, Running, and Stair Ascent

Powered exoskeletons need actuators that can generate substantial assistive torque and orthoses efficiently transfer the to user. also be lightweight ergonomic minimize negative effects wearing exoskeleton has on user's effort comfort. Here we present design, development, validation of an autonomous powered hip with high density. The actuator is based a four-bar mechanism integrated composite springs. A compact carbon fiber frame encloses custom actuator, doubling as thigh linkage. self-aligning used avoid uncomfortable spurious forces torques limb. Custom pelvis braces are developed using materials reduce weight. embedded electronic system into brace device weight electrical consumption. Experiments show proposed produce nominal (41.9 Nm repetitive peak torque), backdrivability (0.16 back-driving bandwidth (23.8 Hz), control accuracy (2.1% steady-state error). Human tests assist in walking, running, stairs climbing.