3 DOF Hip Exoskeleton

grabcad

The design will feature three degrees of freedom per leg, emulating human hip motion (roll, yaw, and pitch). Research was conducted on the human walking cycle, joint range of motion, and leg mass distribution to establish hip joint requirements. Radial and axial loads were calculated for each joint in the worst-case scenario, using a 3g factor of safety. A 3D CAD model was created for the hip exoskeleton's basic frame, incorporating selected tapered roller bearings on the joints. Continuous improvements have been made to the structure, including actuators, motor cooling systems, and electronics. FEA analysis determined critical sections and eliminated redundant materials. Research is ongoing for the harness design, with prototypes being produced using 3D printing technology for testing fit and function.