Estimation of the Hip Moment Using a Novel Torque Measurement System and Development and Testing of a One-Sided Robotic Hip Exoskeleton: Preliminary Clinical Investigation

CSME 2025/06
Volume 46 No.3 : 243-254

Estimation of the Hip Moment Using a Novel Torque Measurement System and Development and Testing of a One-Sided Robotic Hip Exoskeleton: Preliminary Clinical Investigation

Kishore P ^a, Anjan Kumar Dash ^b and Dilip Kumar K ^c
^aResearch Scholar, School of Mechanical Engineeringm, SASTRA Deemed to be University, Thanjavur, Tamil Nadu, India, 613401
^bProfessor, School of Mechanical Engineering, SASTRA Deemed to be University, Thanjavur, Tamil Nadu, India, 613401
^cDK Physiotherapy Centre, Thanjavur, Tamil Nadu, India, 613401

Abstract: This research aims to develop a one-sided exoskeleton that can rehabilitate individuals with hemiparesis. The exoskeleton actuator must generate sufficient torque for walking, which requires determining the patient’s hip moment. While Inverse dynamics is a standard method for estimating lower limb joint moments, it is challenging for individuals with limited mobility. To address this, a torque measurement system is proposed to find the hip moments during walking. The system is tested on five healthy participants and five participants with hemiparesis. The results of the hip moment obtained from the proposed system are validated using Inverse dynamic analysis. Based on these results, an overground rehabilitation exoskeleton is developed and tested on participants with hemiparesis. The developed exoskeleton improved hip movement and walking parameters, helping participants to walk more naturally. Participants provided positive feedback and expressed confidence while walking with the exoskeleton. These findings show the effectiveness of developed exoskeleton for over-ground rehabilitation.

Keywords: Gait Analysis, Inverse Dynamics, Exoskeleton, Torque Sensor.

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