Design and First Operation of an Active Lower Limb Exoskeleton with Parallel Elastic Actuation

The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait. The prototype was tested in sit-to-stand and gait trials, in which the actuators were cascade-controlled with position trajectories. The compliant actuation of the hip in gait experiments proved to be more efficient; the peak torque was reduced by up to 31% and the RMS power was reduced by up to 36%.

Automated summary

The study focused on the lower limb exoskeleton providing support for the knee and hip, with parallel elastic actuators improving energy efficiency during gait. The experiments showed that compliant actuation of the hip in gait trials was more effective, reducing peak torque by up to 31% and RMS power by up to 36%.