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A Single-Source Dual-Drive Flexible Knee Assistive Exoskeleton for Elderly Daily Locomotion
Shisheng Zhang1,2, Yang Zhang3, Yanzong Xu4
1Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.
Cyborg and Bionic Systems (Washington, D.C.)
|August 12, 2026
Summary
This study introduces a flexible knee assistive exoskeleton for elders, improving mobility and quality of life. The device accurately recognizes walking patterns and reduces metabolic cost and muscle strain during daily activities.
Area of Science:
- Biomedical Engineering
- Robotics
- Gerontology
Background:
- Knee strength degradation in elders significantly impacts mobility and quality of life.
- Assistive devices are crucial for supporting daily locomotion in aging populations.
Purpose of the Study:
- To develop and evaluate a single-source dual-drive flexible knee assistive exoskeleton for elderly individuals.
- To enhance safety, comfort, and effectiveness in assisting daily locomotion.
Main Methods:
- Designed a novel single-source dual-drive architecture with a single electric motor and clutch for bilateral knee control.
- Implemented a cyclic locomotion pattern recognition (LPR) methodology using a dual detection strategy (finite state machine and fuzzy control).
- Developed a time-shared assistive torque control strategy based on recognized locomotion patterns.
Main Results:
- The locomotion pattern recognition achieved an average precision of 98.89% in real-world experiments.
- Exoskeleton assistance led to a significant reduction in metabolic cost (average 28.20%) and surface electromyography signals (average 67.33%).
Conclusions:
- The developed knee assistive exoskeleton effectively supports elderly locomotion.
- The system demonstrates high accuracy in pattern recognition and substantial reduction in physiological load, improving user experience and mobility.
