A Portable Variable Stiffness Unpowered Aided Exoskeleton Design

  • Luoqin YuEmail author
  • Kai Wang
  • Tianning Chen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 576)


Long-term and long-distance walking, especially weight-bearing walking, can lead to a series of health problems, such as physical decline, muscle fatigue, and even muscle injury. In order to provide precisely walking support for users, our team studied the movement characteristics of normal people’s unilateral lower limbs from transition phase to support phase, the kinematic position relationship and energy conversion relationship of the human hip joint in different gait periods, and the internal cam mechanism is designed accordingly. Considering the individualized demand of user’s walking aid, a variable stiffness energy storage mechanism is designed, which can be adjusted according to user’s height. Through EMG test, it is proved that the mechanism has a good effect of assisted walking. The energy storage mechanism of unpowered aided exoskeleton is mainly composed of cam and roller follower. Compared with traditional energy storage mechanisms such as connecting rods, they are smaller in size and easier to wear, which provides some useful ideas for the human-friendly design of unpowered exoskeleton.


Variable stiffness Aided exoskeleton Wearable Energy storage mechanism 


Compliance with Ethical Standards

The study was approved by the Logistics Department for Civilian Ethics Committee of Xi’an Jiaotong University. All subjects who participated in the experiment were provided with and signed an informed consent form. All relevant ethical safeguards have been met with regard to subject protection.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Mechanical EngineeringXi’an Jiaotong UniversityXi’anChina

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