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Mobility disabilities are prominent in society with wide-ranging detrimentsto affected individuals. Addressing the specific deficits of individuals withinthis heterogeneous population requires modular, partial-assist, lower-limbexoskeletons. This paper introduces the Modular Backdrivable Lower-limbUnloading Exoskeleton (M-BLUE), which implements high torque, low mechanicalimpedance actuators on commercial orthoses with sheet metal modifications toproduce a variety of hip- and/or knee-assisting configurations. Benchtop systemidentification verifies the desirable backdrive properties of the actuator, andallows for torque prediction within 0.4 Nm. An able-bodied human subjectexperiment demonstrates that three unilateral configurations of M-BLUE (hiponly, knee only, and hip-knee) with a simple gravity compensation controllercan reduce muscle EMG readings in a lifting and lowering task relative to thebare condition. Reductions in mean muscular effort and peak muscle activationwere seen across the primary squat musculature (excluding biceps femoris),demonstrating the potential to reduce fatigue leading to poor lifting posture.These promising results motivate applications of M-BLUE to additional subjectpopulations such as hip/knee osteoarthritis and geriatric frailty, and theexpansion of M-BLUE to bilateral and ankle configurations.

Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses