Study and Design of a Hip Joint for Exoskeleton Applications

This work arises in the wearable robot’s field, with the aim of decreasing the fatigue of the back of industrial workers in case of stooping or bending forward, leaving the possibility of walking when needed. The developed work includes a deep study of the state of the art of similar robots available in literature, the selection of the design target, the choice of the system and of the components, with a special focus on the hip joint in which the actuation system lies. The final part involves kinematic and dynamic simulations for the different operating mode of the joint, the control of the system in MATLAB Simulink implementing the joint 3D models in MATLAB Simscape and allowing to simulate the controlled system behavior.