Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton

Zimele Gwebu; Kabo Moruti; Rodrigo S. Jamisola

doi:10.1109/HNICEM48295.2019.9073479

Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton

Zimele Gwebu, Kabo Moruti, Rodrigo S. Jamisola

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.

Original language	English
Title of host publication	2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	6
ISBN (Electronic)	9781728130446
DOIs	https://doi.org/10.1109/HNICEM48295.2019.9073479
Publication status	Published - Nov 2019
Event	11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 - Laoag, Philippines Duration: Nov 29 2019 → Dec 1 2019

Publication series

Name	2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019

Conference

Conference	11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019
Country/Territory	Philippines
City	Laoag
Period	11/29/19 → 12/1/19

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Information Systems and Management
Electrical and Electronic Engineering
Management, Monitoring, Policy and Law
Control and Optimization

Access to Document

10.1109/HNICEM48295.2019.9073479

Cite this

Gwebu, Z., Moruti, K., & Jamisola, R. S. (2019). Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. In 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 Article 9073479 (2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HNICEM48295.2019.9073479

Gwebu, Zimele ; Moruti, Kabo ; Jamisola, Rodrigo S. / Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019).

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title = "Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton",

abstract = "Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.",

author = "Zimele Gwebu and Kabo Moruti and Jamisola, {Rodrigo S.}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019 ; Conference date: 29-11-2019 Through 01-12-2019",

year = "2019",

month = nov,

doi = "10.1109/HNICEM48295.2019.9073479",

language = "English",

series = "2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019",

address = "United States",

}

Gwebu, Z, Moruti, K & Jamisola, RS 2019, Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. in 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019., 9073479, 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019, Institute of Electrical and Electronics Engineers Inc., 11th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019, Laoag, Philippines, 11/29/19. https://doi.org/10.1109/HNICEM48295.2019.9073479

Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. / Gwebu, Zimele; Moruti, Kabo; Jamisola, Rodrigo S.
2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 9073479 (2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.

AB - Lower-limb robotic exoskeleton have one, two, or three degrees-of-freedom (DOFs) design in the hip joint, according to its desired function. This work analyzes these different DOFs and proposes a suitable one for an exoskeleton designed for assistive and enhancive walking. The different DOFs were developed, compared, and analyzed for effectiveness and comfort of use. All three hip joint designs have one DOF in the knee and ankle joints in the overall exoskeleton framework. In addition, freely-available online exoskeleton designs are analyzed, modified, and tested. Lastly, simulations experiments and 3D printed assembly are presented.

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Gwebu Z, Moruti K, Jamisola RS. Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton. In 2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 9073479. (2019 IEEE 11th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2019). doi: 10.1109/HNICEM48295.2019.9073479

Design and Analysis of Hip Joint DOFs for Lower Limb Robotic Exoskeleton

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