Design and Analysis of a Lightweight Hip Exoskeleton Robot
Part Of
Mechanisms and Machine Science
Journal Volume
192 MMS
Start Page
104
End Page
114
ISSN
22110984
ISBN (of the container)
9783032054654
ISBN
9783032054654
Date Issued
2026
Author(s)
Lin, Shi-Mou
Abstract
The development of hip exoskeleton robots has gained significant attention due to their potential in rehabilitation, assistance, and performance augmentation. However, achieving a balance between torque output and lightweight design remains a challenge. This paper presents a lightweight hip exoskeleton robot and its structural analysis. The exoskeleton integrates a quasi-direct actuator with an optimized structure and passive joints to enhance comfort and walking stability while maintaining a compact and low-mass structure. This paper evaluates the robot’s performance in terms of torque output and structural strength. Furthermore, a comparative analysis with existing hip exoskeletons highlights the advantages of the proposed design in terms of torque-to-mass ratios. This paper is expected to contribute to the optimization of lightweight wearable robots.
Event(s)
7th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2025, Taoyuan City, 1 September 2025 - 3 September 2025
Subjects
direct-drive actuator
Hip exoskeleton robot
passive joint
torque-to-mass ratio
Publisher
Springer Science and Business Media B.V.
Type
book part