Dynamic Duo: Design and Validation of an Autonomous Frontal and Sagittal Actuating Hip Exoskeleton for Balance Modulation During Perturbed Locomotion.

Humans are required to maintain balance during locomotion in challenging environments, which present an even bigger challenge for individuals with balance impairments. Exoskeleton-driven balance augmentation is a promising avenue to assist users in these environments, but there has been little work in developing exoskeleton devices for these applications. In this work, we present the design, realization, and validation of an autonomous robotic hip exoskeleton with frontal and sagittal actuation.