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hip assistance

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Velocity and Force Transfer Performance Analysis of a Parallel Hip Assistive Mechanism
Jianfeng Li, Leiyu Zhang, Mingjie Dong, Shiping Zuo, Yandong He, Pengfei Zhang
Journal:

Robotica / Volume 38 / Issue 4 / April 2020

Published online by Cambridge University Press:

14 January 2020, pp. 747-759
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Against the backdrop of accelerated ageing around the globe, an increasing number of individuals suffer from hip motion disability and gait disorders. In this paper, the performance analysis of a novel parallel assistive mechanism with 2 DOF for hip adduction/abduction (AB/AD) and flexion/extension (FL/EX) assistance is completed and evaluated, particularly the velocity and force transfer features. The analysis shows that the assistive mechanism has advantages of fine motion assistive isotropy, high force transfer ratio and large force isotropic radius, which indicates that the parallel assistive mechanism is suitable for hip AB/AD and FL/EX assistance.