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Development and testing of a passive Walking Assist Exoskeleton

Lovrenovic Zlatko, Doumit Marc

Biocybernetics and Biomedical Engineering

2019

Vol. 39, no. 4

992--1004

The ability to walk is perhaps the most common indicator of mobility and independence. Regrettably, a large portion of the population is experiencing a loss in mobility due to aging and/or chronic health conditions. There is thus an urgent need to develop systems that would help preserve mobility for individuals in need. One promising solution to this growing problem is Walking Assist Exoskeletons. Current devices mostly rely on powered systems to provide walk assist by applying complementary torques about lower limb joints. Whereas these exoskeletons have achieved technological breakthroughs, they are not without limitations. In response, developments of passive alternatives are now emerging and have demonstrated the potential for simple, cost-effective devices. Aligned with this progress, the following study proposes the development of a passive exoskeleton that enhances mobility during stance and walking. This is achieved through an unpowered seat mechanism that produces an upward force on the pelvis of the user. Two analytical models are developed to predict its behavior, by evaluating the effect of increasing the stiffness of the mechanism, as well as predicting device kinematics and its resulting assistance throughout a gait cycle. A human-scale proof of concept prototype was fabricated and tested using motion capture equipment and load cells. The results validated the proposed design, which provided an upward stance force between 9.41% and 26.18% of body weight for six levels of spring stiffness. The exoskeleton also provided an upward peak walking force between 14.02% and 27.52% of body weight for five levels of spring stiffness.