A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation

2026-09-21

AI Summary

本文介绍了一种可重构双向缆绳驱动髋关节外骨骼，通过切换台式和背包式驱动配置，解决实验室评估与移动辅助间的硬件兼容问题。

Abstract

Hip exoskeletons provide an important hardware basis for lower-limb rehabilitation and locomotor assistance. Laboratory rehabilitation assessment and system development require substantial actuation and computing resources, whereas mobile assistance requires untethered portability. Integrating both capabilities within one reusable platform remains a central design challenge. This paper presents a reconfigurable bidirectional cable-driven hip exoskeleton platform that rapidly switches between bench-mounted and backpack-mounted actuation while sharing one cable-free wearable hip interface. The platform modularly adapts the actuation configuration, end-effector sensing path, and low-level control interface. Each cable-driven end-effector weighs 0.405 kg, excluding the cable and actuation unit, and integrates an encoder and a torque sensor; experiments validated bench-mounted admittance-based motion tracking capability and backpack-mounted open-loop torque tracking. Human-worn experiments with three healthy participants used myoMOTION to evaluate the platform's wearable-side hip-motion sensing capability, verified bench-to-backpack and backpack-to-bench motion-ready switching across 30 trials in $30.1\pm16.3$ s, and formed a small-scale multimodal wearable-exoskeleton gait dataset for sensing validation and data-driven algorithm development, comprising 8 min bench-mounted treadmill records and 11 min backpack-mounted outdoor walking records. These results show that, by unifying the wearable structure, actuation interface, and sensing path, the proposed platform enables validation of the same hip exoskeleton in both bench-mounted and backpack-mounted configurations, providing reusable hardware for iterative development and applications across scenarios.

Problem

• hip exoskeleton
• reconfigurable
• actuation
• wearable
• portability

Innovation

• reconfigurable
• bidirectional cable-driven
• dual-configuration actuation
• wearable hip interface