HRSL Hip Exoskeleton
The HRSL Hip Exoskeleton is a modular, adjustable robotic exoskeleton with the capability to transmit torque about one or both hip joints. The exoskeleton can adjust for different hip sizes using a tightening hip and lower back brace and for various leg lengths using a pin locking mechanism. This allows the exoskeleton to be fitted for many different body types and subjects spanning a wide range of demographics. Since the design is almost entirely made of 3D printed parts, it is lightweight, with the total mass being about 1.25 kg. Furthermore, the Dephy actuator used in the exoskeleton is highly backdriveable, which allows for easy movement while it is powered off.
Relevant Publications
Abdikadirova, B., Price, M., Jaramillo, J.M., Hoogkamer, W., & Huber, M.E. (2024). Gait adaptation to asymmetric hip stiffness applied by a robotic exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 32, 791-799.
Abdikadirova, B., Price, M., Jaramillo, J. M., Hoogkamer, W., & Huber, M. E. (2023, May). Bilateral asymmetric hip stiffness applied by a robotic hip exoskeleton elicits kinematic and kinetic adaptation. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 10457-10463). IEEE.
Price, M., Abdikadirova, B., Locurto, D., Jaramillo, J. M., Cline, N., Hoogkamer, W., & Huber, M. E. (2022, October). Unilateral stiffness modulation with a robotic hip exoskeleton elicits adaptation during gait. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12275-12281). IEEE.
Contributing Researchers
Meghan E. Huber
Assistant Professor, MIE
Mark Price
Postdoctoral Researcher, MIE and Kinesiology
Banu Abdikadirova
PhD Candidate, MIE
Dominic Locurto
Alumni Masters Student, MIE
Nick Cline
Alumni Masters Student, MIE