In search of transparency for lower limb exoskeleton devices with a new mechanical design and a robust gait phases detection method

This paper considers the central question of transparency in a lower limb exoskeleton, designed for knee rehabilitation. The device is aimed to provide torque assistance for the user´s knee joint during walking. The mechanical design is realized according to the methodology established for exoskeletons, which consists of using passive linkages to connect the device´s external rigid structure to the human body. Torque controllers are implemented at the knee joints. A gait phase detection method is investigated in order to provide an effective control of the system. First simulations and experiments were conducted, showing the effect of the device on the wearer during locomotion.