Analysis and Evaluation of a Quasi-Passive Lower Limb Exoskeleton for Gait Rehabilitation

Abstract

Using lower limb exoskeletons in healthcare sector like for rehabilitation is an important application. Lower limb exoskeletons can help in performing specific functions like gait assistance, and physical therapy support for patients who are lost their ability to walk again. Since active lower limb exoskeletons require more complicated control instrumentation and according to the limitations of the power/weight ratio that arises in such exoskeletons, many quasi-passive systems have developed and employed. This paper presents the design and testing of lightweight and adjustable two degree of freedom quasi-passive lower limb exoskeleton for improving gait rehabilitation. The exoskeleton consists of a high torque DC motor mounted on a metal plate above the hip joint, and a link that transmit assistance torque from the motor to the thigh. The knee joint is passively actuated with spring. The action of the passive component (spring) is combined with mechanical output of the motor to provide a good control on the designed exoskeleton during walking. The results show that muscles' efforts on both the front and the back sides of the user's leg were decreased when walking using the exoskeleton with the motor and spring.