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The development of a two-degree-of-freedom right-leg exoskeleton with flexible joints for knee and ankle assistance during gait is presented. The main objective is the design and implementation of a back-stepping control system, taking into account the dynamics of the flexible joints in the exoskeleton. The results are obtained from experimental simulation tests and experimental tests on the developed prototype. In addition, a strategy is proposed to use the flexible joints as torque sensors, which allow the generation of the human intention command that allows the user to make the decision to start walking and stop.

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Knee and Ankle Exoskeleton for Walking Assistance with Flexible Joint as Force Sensors

  • 章节

  • 发表日期：

    2026年

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  • Jesús Ricardo López-Gutierrez,
  • Uriel Pérez-Flores,
  • Ruben Fuentes-Alvarez,
  • Luis Antonio Carrillo-Martinez

摘要

The development of a two-degree-of-freedom right-leg exoskeleton with flexible joints for knee and ankle assistance during gait is presented. The main objective is the design and implementation of a back-stepping control system, taking into account the dynamics of the flexible joints in the exoskeleton. The results are obtained from experimental simulation tests and experimental tests on the developed prototype. In addition, a strategy is proposed to use the flexible joints as torque sensors, which allow the generation of the human intention command that allows the user to make the decision to start walking and stop.