Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence.

Area of Science:

• Robotics
• Biomechanics
• Human Augmentation

Background:

• Exoskeletons are crucial for mobility assistance.
• Existing designs often face challenges with weight, wearability, and power consumption.

Purpose of the Study:

• To design and develop an exoskeleton for 3D walking support.
• To minimize the number of actuators while enhancing performance.
• To investigate novel actuator placement and control strategies.

Main Methods:

• A simulation study determined optimal joint configuration.
• Actuators (hip/knee/ankle) were strategically placed around the waist.
• Custom-built series elastic actuators were employed for precise torque control.
• A functional prototype was constructed for experimental validation.

Main Results:

• The exoskeleton design successfully integrated actuators around the waist, reducing leg weight and improving wearability.
• The use of series elastic actuators enabled high-fidelity torque controllability.
• Preliminary experiments confirmed the feasibility of torque control for 3D walking support.
• The design potentially enables 3D walking support with reduced power requirements.

Conclusions:

• The developed exoskeleton prototype validates the design specifications for 3D walking support.
• The innovative actuator placement and control system show promise for future assistive robotic devices.
• Further research can explore advanced control algorithms for more intuitive and adaptive walking assistance.