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- W4386363030 abstract "Assistive single-joint lower-limb exoskeletons have shown potential clinical benefits in patients with gait deficiencies. Torque-controlled exoskeletons, unlike position-controlled exoskeletons, do not restrict voluntary movements, allowing for safer interaction with the user. A torque-controlled hip flexion/extension exoskeleton intended for individuals with cerebral palsy is presented in this paper. The exoskeleton features series elastic actuators with a low output impedance and individualized orthotics designed using algorithmic 3D modeling and manufactured using additive manufacturing technologies. This work aimed to mitigate hip extension deficit and excessive hip flexion observed in crouch gait and apparent equinus CP gait patterns by providing an extension torque during the stance phase. We expound on the design of an exoskeleton capable of performing this task, including a detailed discussion of the design, torque control, and benchmarking of its actuators. The exoskeleton’s mechanical structure, orthotics, control, user interface, and safety functions are presented. A performance evaluation was conducted through a trial on an unimpaired participant. Up to 35 Nm of extension torque, timed to coincide with the stance phase, could be achieved during walking on a treadmill with a stride time of 1.2 s. The participant was asked to simulate a crouched gait and experienced a lifting sensation at approximately 16 Nm of extension torque during stance, making it difficult to maintain the crouch." @default.
- W4386363030 created "2023-09-02" @default.
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- W4386363030 date "2023-01-01" @default.
- W4386363030 modified "2023-09-27" @default.
- W4386363030 title "Design and Control of an Individualized Hip Exoskeleton Capable of Gait Phase Synchronized Flexion and Extension Torque Assistance" @default.
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- W4386363030 doi "https://doi.org/10.1109/access.2023.3311352" @default.
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