Passive Lower Limb Exoskeleton for Kneeling and Postural Transition Assistance With Expanded Support Polygon

Robotic exoskeletons, which assist in stand-to-kneel and kneel-to-stand (STK-KTS) movements static kneeling postures are great demand the nursing field. This movement involves continuous adjustment of center gravity without a sufficient support polygon, enhances required joint effort ankle knee. study proposes novel passive lower limb exoskeleton to movement. The was attached right leg comprised gas spring. design followed an assistive strategy expanded polygon. During STK-KTS, spring provided extra contact with ground, thereby expanding polygon increase motion stability propping knee provide torque leg. effectiveness analyzed using Lagrange dynamics-based simulation. Moreover, it confirmed that due proposed real-world experiments. Further, experiments seven healthy subjects showed reduced time-integrated myoelectric potentials legs during STK-KTS (13.6%) posture (37.9%). These results imply has potential reduce physical loads comfortable working environment for workers.