Kyeongsu Shi

Design of a Front-enveloping Powered Exoskeleton Considering Optimal Distribution of Actuating Torques and Center of Mass

Traditionally, powered exoskeletons have predominantly featured a back-enveloping design due to its simplicity in both implementation and user donning. However, this design results in a backward shift of the center of mass (CoM) in the sagittal plane. This paper identifies the limitations of existin…