Development of a Lower-Limb Exoskeleton for Assistance of Movements in the Sagittal Plane

Abstract

Currently, exoskeletons can be categorized according to the part of the human body they are focused on, their purpose and the type of mechanisms used for their operation. This paper presents the development of an exoskeleton to assist lower-limb motion during human gait and uses the electromyographic (EMG) signals as data acquisition and control system. In addition, the system has an anthropomorphic and adjustable design to serve a larger number of patients and thus make it affordable for a larger sector of the population. In order to verify the suitable operation of the exoskeletal system, experimental tests were carried out with a volunteer and some of the obtained results are presented.