Robotic Hip Exoskeleton Design and Control

Motivation:

We want to develop autonomous robotic hip exoskeletons to assist individuals with limited locomotor function, particularly stroke survivors and older adults who experience distal joint coordination deficits and compensate by relying heavily on proximal hip musculature. In human gait, the hip often serves as the primary mechanical power generator in such cases, but it is inherently less efficient than the ankle, which benefits from tendon-based elastic energy storage. This inefficiency can increase metabolic cost and reduce walking endurance, making targeted hip assistance crucial.

By integrating advanced sensing systems, high-performance actuators, and intelligent control strategies, our robot can dynamically respond to user intent and adapt across diverse locomotor tasks. Engineered for both wearability and comfort, the hip exoskeleton accommodates a wide range of body sizes and conditions, ensuring applicability in both clinical rehabilitation and daily mobility. Beyond hardware innovation, this project advances the scientific understanding of hip biomechanics in impaired populations, driving the development of personalized control algorithms and modular designs that can integrate with other exoskeletons for comprehensive lower-limb assistance.

Team Members

• Maria Tagliaferri

• Jimin An

• Changseob Song

• Nate Shoemaker-Trejo