A portable active pelvis orthosis for ambulatory movement assistance

Andrea Parri, Tingfang Yan, Francesco Giovacchini, Mario Cortese, Marco Muscolo, Matteo Fantozzi, Raffaele Molino Lova, Nicola Vitiello

Research output: Chapter in Book/Report/Conference proceedingChapter


Aging of population and increased incidence of gait impairments are dominant trends undermining social welfare and healthcare system. Lower-limb wearable robots proved to be a viable solution for recovering mobility of people affected by gait disorders. This work presents the design of the mechatronic architecture of a fully self-contained active pelvis orthosis (APO) for assisting hip flexion/extension movements during daily living activities. The APO could act compliantly with the human biomechanics thanks to series-elastic actuation and to a novel kinematics chain endowed with passive degrees of freedom. The portability and autonomy of the control system have opened the horizon to explore different assistive tasks in out-of-lab scenarios.

Original languageEnglish
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Number of pages6
Publication statusPublished - 2017

Publication series

NameBiosystems and Biorobotics
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering


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