首页|A Lower Limb Wearable Exosuit for Improved Sitting, Standing, and Walking Efficiency

A Lower Limb Wearable Exosuit for Improved Sitting, Standing, and Walking Efficiency

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  • NETL
  • NSTL
  • IEEE
Sitting, standing, and walking are fundamental activities crucial for maintaining independence in daily life. However, aging or lower limb injuries can impede these activities, posing obstacles to individuals' autonomy. In response to this challenge, we developed the LM-Ease (lower-limb movement ease), a compact and soft wearable robot designed to provide hip assistance. Its purpose is to aid users in carrying out essential daily activities such as sitting, standing, and walking. The LM-Ease features a fully actuated tendon-driven system that seamlessly transitions between assistance actuation profiles tailored for sitting, standing, and walking movements. This device provides the user with gravity support during stand-to-sit, and offers hip extension assistance pulling force during sit-to-stand and walking. Our preliminary results show that with the LM-Ease, healthy young adults (n $=$ 8) had significantly lower muscle activation: average reduction of 15.6% during stand-to-sit and 17.8% during sit-to-stand. Furthermore, with LM-Ease, participants demonstrated a 12.7% reduction in metabolic cost during ground walking. These evidences suggest that the LM-Ease holds potential in reducing muscular activation and energy expenditure during these fundamental daily activities. It could serve as a valuable tool for individuals seeking assistance in enhancing lower limb mobility, thereby bolstering their independence and overall quality of life.

Legged locomotionHipMusclesThighFeathersBeltsRobotsKinematicsActuatorsCosts

Xiaohui Zhang、Enrica Tricomi、Xunju Ma、Manuela Gomez-Correa、Alessandro Ciaramella、Francesco Missiroli、Luka Mišković、Huimin Su、Lorenzo Masia

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Institut für Technische Informatik (ZITI), Heidelberg University, Heidelberg, Germany

School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China

Medical Robotics and Biosignals Laboratory, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Mexico City, Mexico

Institute of Mechanical Intelligence, Sant'Anna School of Advanced Studies, Pisa, Italia

Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia

Department of Computer Engineering, School of Computation, Information and Technology, Technical University of Munich, Munich, Germany

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2025

10.1109/TRO.2024.3492452

IEEE transactions on robotics: A publication of the IEEE Robotics and Automation Society

IEEE transactions on robotics: A publication of the IEEE Robotics and Automation Society

ISSN：
年,卷(期)：2025.41(1)
  • 46