Design and implementation of a robotic hip exoskeleton for gait rehabilitation

Shi Heng Hsu, Chuan Changcheng, Heng Ju Lee, Chun Ta Chen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


In this paper, a four degrees-of-freedom robotic hip exoskeleton was proposed for gait rehabilitation. The robotic hip exoskeleton was designed with active flexion/extension and passive abduction/adduction at each hip joint to comply with the movement of the thigh. Due to each us-er’s different lower limbs characteristics and unknown torques at hip joints, model-free linear ex-tended state observer (LESO)-based controllers were proposed for rehabilitation gait control. The prototypes of the robotic hip exoskeleton and controller designs were validated and compared through walking and ascending rehabilitation experiments. Additionally, a motion captured system and EMG signals were used to investigate the walking assistance of the robotic hip exoskele-ton.

Original languageEnglish
Article number212
Issue number9
Publication statusPublished - 2021 Sept


  • Gait
  • LESO
  • Rehabilitation
  • Robotic hip exoskeleton

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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