Abstract
A hip exoskeleton was designed that can assist hip flexion and extension. The device incorporates a motor, ball-screw, and spring in a lightweight package. The total weight including the battery is 2.95 kg. The system uses 20 W of power per leg. The system is controlled based on the phase angle of each leg and the torque is applied in synchrony with the user’s steps. The device assists walking, running, and does not interfere when going up and down stairs.
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Acknowledgments
A patent application has been filed on the phase oscillator and mechanisms. This work is partially supported by the DARPA grant W911NF-15-1-0162. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the funding agency
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Sugar, T.G., Fernandez, E., Kinney, D., Hollander, K.W., Redkar, S. (2017). HeSA, Hip Exoskeleton for Superior Assistance. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J., van der Kooij, H., Pons, J. (eds) Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-46532-6_52
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DOI: https://doi.org/10.1007/978-3-319-46532-6_52
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