gait rehabilitation exoskeleton / standing position
gait, standing position
HANK is a lower limb exoskeleton designed for rehabilitation of adults between 1.50 and 1.95 m in height, with a maximum body weight of 100 kg, such as stroke patients following neurological insults. It also can be used for gait compensation in patients who have paralysis of the lower limbs following spinal cord injuries. It is conceived for overground gait training in a clinical environment as a bilateral wearable device with six degrees of freedom (DoF), in which hip, knee and ankle are powered joints. Various criteria informed the mechanical design: an exoskeleton design should be ergonomic, comfortable and lightweight, with a strong structure, adaptable to different users and with safety in mind. In HANK, aluminium 7075 is primarily used in the mechanical structure in consideration of mechanical resistance and lightweight.
The final device weights about 12 kg including its battery pack. The exoskeleton frame has bilateral uprights for the thigh and the shank, hinged hip, knee and ankles and articulated footplates (distally) and a waist support (proximally). The range of motion (ROM) in actuated joints is mechanically limited for safety reasons.