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

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.