Portable Hip Exoskeleton
![](assets/img/hip exo overview.png)
Datasheet
Specifications
Property | Value |
---|---|
Nominal Voltage | 24V |
Motor Nominal Torque | 2 Nm |
Motor Peak Torque | 6 Nm |
Motor Nominal Speed | 1500 RPM |
Gear ratio | 9:1 |
Actuator Output Nominal Torque | 12 Nm |
Actuator Output Peak Torque | 36 Nm |
Actuator Output Speed | 188 RPM |
Mass (without battery) | 2.6 kg |
Mass (with battery) | 3.2 kg |
Flexion/Extension Abduction/Adduction |
130°/40° 90°/60° |
Actuation type | Fully Portable |
Battery life | 1.5 hours |
Architecture of Sensor, Communication, Control
The electronic architecture of the exoskeleton facilitated high-level torque control, motor control, sensor signal conditioning, data communication, and power management.
![](assets/img/Hip exo control.png)
Video 2023 ICRA
Video 2020 Transactions on Mechatronics
Publication
Yu S, Huang TH, Yang X, Jiao C, Yang J, Chen Y, Yi J, Su H. "Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth", IEEE/ASME Transactions on Mechatronics, vol. 25, no. 4, pp. 1794-1802, Aug. 2020, doi: 10.1109/TMECH.2020.2995134.
PDF
| Video | Demo Video | Code
| Award
I. Dominguez, S. Luo, R. Wu, H. Su, “Reinforcement Learning through Physics-based and Data-driven Approaches for
Exoskeleton Control in the Real World” 2023 IEEE International Conference on Robotics and Automation (ICRA), Workshop: Neuromechanics Meets Deep Learning,
London, UK.
PDF |
Poster