Abstract: This paper presents the design and preliminary evaluation of a quasi-passive lower limb exoskeleton for walking efficiency improvements. The exoskeleton recycles the negative work performed by the knee joint in late swing ...

Abstract: This paper investigates the influence of the load connection form on the walking energetics and kinetics with simple models. Four load connection forms including rigid connection (RIC), springy connection (SPC), swingy ...

Abstract: Active exoskeletons have capacity to provide biologically equivalent levels of joint mechanical power, but high mass of actuation units may lead to uncoordinated walking and extra metabolic consumption. Active exoskeletons ...

Abstract: Walking with load carriage is a common requirement for individuals in many situations. Legged exoskeletons can transfer the load weight to the ground with rigid-leg structures, thus reducing the load weight borne by the ...