Design of a Minimally Actuated Medical Exoskeleton With Mechanical Swing-Phase Gait Generation and Sit-Stand Assistance

Abstract

This article describes the design of Austin exoskeleton – a minimally actuated medical exoskeleton with mechanical swing-phase gait generation and sit-stand assistance. The Austin exoskeleton is an accessible lightweight system that enables individuals with paraplegia to walk. The gait generation hardware of the Austin exoskeleton suit consists of three major components: hip actuation, a hip-knee coupler, and a controllable locking knee. Users operate the exoskeleton with a simple wireless user interface consisting of two push buttons that are installed on the handle of the stability aid. Electrical components are located on the back of the exoskeleton. A single actuator per leg and a mechanical hip-knee coupler power the knee during swing phase and provide assistance for sitting and standing. The suit’s design embeds gait generation into hardware, decreasing controller complexity. By using a bio-inspired coupling mechanism, the Austin system is able to power both the hip and knee joints using a single hip actuator.