Lower-limb wearable exoskeleton system to advance assisted mobility research

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Over the past decade, there have been major advancements in mechatronics design of bilateral lower-limb (leg) powered exoskeletons. Placed over the lower limbs primarily for standing and walking, these externally-powered motorized orthoses allow users with compromised motor control to complete movements they could not complete on their own. For example, the emergence of serial elastic actuators has facilitated compact mechanical designs capable of effecting assistive torques at the major lower limb joint axes with inherently spring-like impedance. Furthermore, advances in structural design have reduced power consumption to afford a true portable device capable of daily operation with current rechargeable battery technology.