LAUSR

This paper presents a newly developed lower-limb exoskeleton tested for walking assistance. The novel exoskeleton design methodology uses additive manufacturing and a parametrized model based on user anthropometrics to give a person-specific custom fit. The process is applied to average children and a healthy adult, and a prototype device is fabricated for the adult to validate the feasibility of the approach. The developed prototype actuates the hip and knee joints without restricting hip abduction-adduction motion. To test usability of the device and evaluate walking assistance, user torque, mechanical energy generated, and muscle activation are analyzed in an assisted condition where the subject walks on a level treadmill with the exoskeleton powered. This is compared to an unassisted condition with the exoskeleton unpowered and a baseline condition with the subject not wearing the exoskeleton. Comparing assisted to baseline conditions, torque magnitudes increased at the hip and knee, mechanical energy generated increased at the hip but decreased at the knee, and muscle activations decreased in the Biceps Femoris and increased in the Vastus Lateralis. The presented preliminary results are inconclusive on whether the newly developed exoskeleton can assist in walking though show promise for basic usability of the device.