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While existing literature encompasses exoskeleton-assisted sit-stand tasks,the integration of energy recovery mechanisms remains unexplored. To push theseboundaries further, this study introduces a portable pneumatic knee exoskeletonthat operates in both quasi-passive and active modes, where active mode isutilized for aiding in standing up (power generation), thus the energy flowsfrom the exoskeleton to the user, and quasi-passive mode for aiding in sittingdown (power absorption), where the device absorbs and can store energy in theform of compressed air, leading to energy savings in active mode. The absorbedenergy can be stored and later reused without compromising exoskeletontransparency in the meantime. In active mode, a small air pump inflates thepneumatic artificial muscle (PAM), which stores the compressed air, that canthen be released into a pneumatic cylinder to generate torque. All electronicand pneumatic components are integrated into the system, and the exoskeletonweighs 3.9 kg with a maximum torque of 20 Nm at the knee joint. The paperdescribes the mechatronic design, mathematical model and includes a pilot studywith an able-bodied subject performing sit-to-stand tasks. The results showthat the exoskeleton can recover energy while assisting the subject andreducing muscle activity. Furthermore, results underscore air regeneration'simpact on energy-saving in portable pneumatic exoskeletons.

The JSI-KneExo: Active, Quasi-Passive, Pneumatic, Portable Knee Exo with Bidirectional Energy Flow for Air Recovery in Sit-Stand Tasks