Development of the heavy load transferring task oriented exoskeleton adapted by lower extremity using qausi - Active joints

Herein, this study proposes that the exoskeleton has not full of active DOF (degree of freedom) joint, but partial active DOF joint which is so called the quasi-active joint system. It consists of 4 quasi-active joints and 2 active joints 3 passive joint and 1 active joint. So as to verify the efficiency of the quasi-active exoskeleton, muscle activation results are compared by before and after the wearing exoskeleton results.