Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton
The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological h...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/12/12/924 |
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| author | Yuntian Wang Xiuyuan Wu Yifan Fang Keisuke Osawa Kei Nakagawa Shintaro Yamasaki Eiichiro Tanaka |
| author_facet | Yuntian Wang Xiuyuan Wu Yifan Fang Keisuke Osawa Kei Nakagawa Shintaro Yamasaki Eiichiro Tanaka |
| author_sort | Yuntian Wang |
| collection | DOAJ |
| description | The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of 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 integrating IMU data, motor compensation is dynamically made to facilitate a more natural gait. Experimental results indicate improved hip joint angles and enhanced user comfort, presenting a promising solution for better walking assistance for elderly individuals. |
| format | Article |
| id | doaj-art-ef205ea52e7c4d1cb66f983a9a9c05ca |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-ef205ea52e7c4d1cb66f983a9a9c05ca2025-08-20T02:53:20ZengMDPI AGMachines2075-17022024-12-01121292410.3390/machines12120924Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb ExoskeletonYuntian Wang0Xiuyuan Wu1Yifan Fang2Keisuke Osawa3Kei Nakagawa4Shintaro Yamasaki5Eiichiro Tanaka6Graduate School of Information, Production and Systems, Waseda University, Fukuoka 808-0135, JapanGraduate School of Information, Production and Systems, Waseda University, Fukuoka 808-0135, JapanGraduate School of Information, Production and Systems, Waseda University, Fukuoka 808-0135, JapanDepartment of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka 819-0395, JapanGraduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima 734-8553, JapanGraduate School of Information, Production and Systems, Waseda University, Fukuoka 808-0135, JapanGraduate School of Information, Production and Systems, Waseda University, Fukuoka 808-0135, JapanThe increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of 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 integrating IMU data, motor compensation is dynamically made to facilitate a more natural gait. Experimental results indicate improved hip joint angles and enhanced user comfort, presenting a promising solution for better walking assistance for elderly individuals.https://www.mdpi.com/2075-1702/12/12/924lower limb exoskeletonhip jointkinematic–biological matchwalking assistance |
| spellingShingle | Yuntian Wang Xiuyuan Wu Yifan Fang Keisuke Osawa Kei Nakagawa Shintaro Yamasaki Eiichiro Tanaka Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton Machines lower limb exoskeleton hip joint kinematic–biological match walking assistance |
| title | Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton |
| title_full | Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton |
| title_fullStr | Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton |
| title_full_unstemmed | Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton |
| title_short | Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton |
| title_sort | design control and analysis of a 3 degree of freedom kinematic biologically matched hip joint structure for lower limb exoskeleton |
| topic | lower limb exoskeleton hip joint kinematic–biological match walking assistance |
| url | https://www.mdpi.com/2075-1702/12/12/924 |
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