Design of a Hip Exoskeleton With Actuation in Frontal and Sagittal Planes

One third of older adults and one half of people with a lower limb amputation fall each year. A hip exoskeleton capable of rapidly delivering high torques in frontal and sagittal planes could assist with fall recovery. Here we describe the design and testing of a hip exoskeleton emulator with actuation to adjust foot placement or center-of-mass state. The emulator was designed to be lightweight an...