Compressed Gas Actuated Knee Assistive Exoskeleton for Slip-Induced Fall Prevention During Human Walking

Slip and fall is a major cause of injury in the elderly and outdoor workers. This paper presents the development of a wearable knee assistive device aimed to prevent slip-induced falls. The proposed novel approach relies on providing active assistance to the trailing leg during slip onset. The assistive device, when slip is detected and device is activated, actively extends the knee of the trailing leg creating contact with the ground. This immediately extends subject's base of support and helps with balance recovery. The lightweight device is powered by compressed CO2 gas from a small cartridge that can be used for a single slip assistance and easily replaced. The results of device characterization and human subject testing demonstrate that the device can assist with rapid knee extension during gait, forming an active slip and fall recovery strategy.