A lower limb exoskeleton with hybrid actuation

In this paper, the lower limb exoskeleton uses a harmonic drive actuator and two pneumatic artificial muscles (PAMs). This hybrid actuation takes both advantages of harmonic drive and PAM. It provide high accuracy position control and compliant behavior. The disadvantages of each type of actuator are overcome. This exoskeleton is suitable for the strength augmentation of human lower limbs, such as the gait rehabilitation routine of hip and knee joints.