A Novel Portable Lower Limb Exoskeleton for Gravity Compensation during Walking
Libo Zhou,Weihai Chen,Wenjie Chen,Shaoping Bai,Jianhua Wang,Libo Zhou,Weihai Chen,Wenjie Chen,Shaoping Bai,Jianhua Wang
This paper presents a novel portable passive lower limb exoskeleton for walking assistance. The exoskeleton is designed with built-in spring mechanisms at the hip and knee joints to realize gravity balancing of the human leg. A pair of mating gears is used to convert the tension force from the built-in springs into balancing torques at hip and knee joints for overcoming the influence of gravity. S...
