Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance

Figure 3

Illustration of the actuation mechanism. (a) When the motor rotates, the slider moves through the pulley system and provides assistive forces for hip flexion by pulling the straddle cables of the knee braces and slacking the straddle cable of the other knee brace. The motor rotates reversely for providing hip flexion assistance to the other leg. (b) During the preswing phase, the assistive force is applied at one knee brace because the motor pulls a straddle cable.

(a)

(b)