Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton

Zimele Gwebu, Kabo Moruti, Rodrigo S. Jamisola

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.

Original languageEnglish
Title of host publication2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728130446
DOIs
Publication statusPublished - Nov 2019
Event11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 - Laoag, Philippines
Duration: Nov 29 2019Dec 1 2019

Publication series

Name2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019

Conference

Conference11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019
CountryPhilippines
CityLaoag
Period11/29/1912/1/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems and Management
  • Electrical and Electronic Engineering
  • Management, Monitoring, Policy and Law
  • Control and Optimization

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  • Cite this

    Gwebu, Z., Moruti, K., & Jamisola, R. S. (2019). Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. In 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 [9073479] (2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HNICEM48295.2019.9073479