Mechanical Design of a 3-DOF Kinematic-Biological Matched Hip Joint Structure for Lower Limb Exoskeleton
摘要
Aging-related demand for rehabilitation and walking assistive devices has led to the proposal of a novel hip joint structure. This solution aims to improve current lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological hip. The design utilizes three 1-DOF (Degree of Freedom) rotational joints to replicate natural hip movement. By incorporating IMU data, motor rotations are adjusted for a more natural gait. Experimental outcomes indicate enhanced hip joint angles and user comfort, offering a promising solution for better walking assistance in the elderly.