Tzy-Qian Pai

A Lightweight Hip Exoskeleton with High Torque-To-Mass Ratio: Design, Gait-Synchronized Control, and Physiological Validation

This paper presents the design, control, and experimental validation of a lightweight hip exoskeleton for walking assistance. By integrating quasi-direct drive actuators, single-piece stainless steel frames, and passive revolute joints, the device achieves a high torque-to-mass ratio while maintaini…