Abstract
HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils many opportunities for the understanding of human-robot interaction. Previous works have presented the mechanical design optimized for high transparency and light weight, while dedicated kinematics allow high torque for sit-to-stand transition and high speed for level walking. The control strategies are currently in the evaluation process. In this document, the recent improvements to the device will be described, from the mechanical design to the control electronics. Some specific aspects such as the remote communication for the controller are emphasized. The assessment of the power autonomy is addressed with two sessions of walking in different conditions, and revealed a maximum operating time of more than 80 min. In this context, the controller is based on adaptive oscillators for the gait detection and is combined with a 40% torque assistance based on biomechanics from the literature.
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Baud, R., Ortlieb, A., Olivier, J., Bouri, M., Bleuler, H. (2018). HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design. In: Husty, M., Hofbaur, M. (eds) New Trends in Medical and Service Robots. MESROB 2016. Mechanisms and Machine Science, vol 48. Springer, Cham. https://doi.org/10.1007/978-3-319-59972-4_14
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DOI: https://doi.org/10.1007/978-3-319-59972-4_14
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