Twisted string actuator-based hip and knee assistance exosuit

Abstract

In this paper proposes a flexible exosuit that can support the hip and knee simultaneously by using a single actuator for lifting support. It is proposed that the actuator can be used more efficiently in performing the lifting motion by using a twisted string actuator similar to the behavior of the torque required for each joint to perform the lifting motion. Derived the mathematical modeling of the pushing force that can support the hip and knee simultaneously with a single twisted string actuator. This paper proposes that the magnitude and direction of the pushing force transmitted to the human body can be modulated by the design of the pad that transmits the pushing force to the human body. Through the proposed pushing force and the design of the pad, we introduce a method to support the lifting process more efficiently.