HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design

HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils many opportunities for the understanding of human-robot interaction. Previous works have presented the mechanical design optimized for high transparency and light weight, while dedicated kinematics allow high torque for sit-to-stand transition and high speed for level walking. The control strategies are currently in the evaluation process. In this document, the recent improvements to the device will be described, from the mechanical design to the control electronics. Some specific aspects such as the remote communication for the controller are emphasized. The assessment of the power autonomy is addressed with two sessions of walking in different conditions, and revealed a maximum operating time of more than 80 min. In this context, the controller is based on adaptive oscillators for the gait detection and is combined with a 40% torque assistance based on biomechanics from the literature

Exoskeletons and orthoses: classification, design challenges and future directions

For over a century, technologists and scientists have actively sought the development of exoskeletons and orthoses designed to augment human economy, strength, and endurance. While there are still many challenges associated with exoskeletal and orthotic design that have yet to be perfected, the advances in the field have been truly impressive. In this commentary, I first classify exoskeletons and orthoses into devices that act in series and in parallel to a human limb, providing a few examples within each category. This classification is then followed by a discussion of major design challenges and future research directions critical to the field of exoskeletons and orthoses.MIT Media Lab Consorti