Abstract
Lower extremity exoskeletons can assist with performing particular functions such as gait assistance, and physical therapy support for subjects who have lost the ability to walk. This paper presents the analysis and evaluation of lightweight and adjustable two degrees of freedom, quasi-passive lower limb device to improve gait rehabilitation. The exoskeleton consists of a high torque DC motor mounted on a metal plate above the hip joint, and a link that transmits assistance torque from the motor to the thigh. The knee joint is passively actuated by spring installed parallel with the joint. The action of the passive component (spring) is combined with mechanical output of the motor to provide a good control on the designed exoskeleton while walking. The results show that muscles' efforts on both the front and the back sides of the user's leg were decreased when walking using the exoskeleton with the motor and spring.
Highlights
Assistive exoskeletons for healthcare like rehabilitation and gait assistance has been widely developed [1][2][3]
The motor supports and drives the leg through the appropriate step pattern during the gait cycle by adding power at the hip joint, while the knee flexion/extension has spring loaded which provides an extension torque and assists knee movements resulting in a strong effect on the leg muscles which contribute in knee flexion/extension when walking
A mathematical model of the human gait cycle was developed for calculating the torques at the hip joint
Summary
Assistive exoskeletons for healthcare like rehabilitation and gait assistance has been widely developed [1][2][3]. Lower limb exoskeletons can be used to aid the rehabilitation training by providing functional motion assistance for people with neurological and age related disorders [3][6][7][8]. The training time is limited to the With this limitation of time, the gait style of the patient is not reproducible and the whole therapy is not optimal [9][10]. In 2003, Hiroaki Kawamoto et al developed HAL which is integrated with the human and assists proper power for lower extremity of patients with a gait disorder.
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