University of California

Don Jin Hyun

Homayoon Kazerooni

Wayne Tung

Yoon Jung Jeong

Stephen McKinley

An exoskeleton () adapted to be coupled to a lower extremity of a person includes a thigh link (), a shank link () and a knee joint () allowing flexion and extension between the thigh and shank links (). A torque generator () connected to the knee joint () includes a wrap spring () having a first end () coupled to the thigh link (), and a second end () coupled to an electric actuator () capable of selectively positioning the second end () of the wrap spring (). A controller () causes the electric actuator () to position the wrap spring () to provide a selective torque between the thigh and shank links () based on a signal () produced by a sensor ().

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Cambridge, MA, United States of America

Don Jin Hyun