Wearability of the passive exoskeleton

In spite of the remarkable advances in the field of exoskeletons, lack of wearability and ease-of-use is still an important technological barrier that often impedes the acceptability of exoskeletons among the healthy individuals. To overcome this barrier in the design of SPEXOR exoskeleton, we developed a special combination of joints that compensate the misalignment between the joints of the exoskeleton and the joints of the user while at the same time the exoskeleton unloads the lower back by redirecting the unwanted forces and moments from the lumbo-sacral spinal region to the less harmful and more stable location on the pelvis, thighs and chest. The result of our design is drastically improved range of motion which can represent a significant increase in acceptability of this technology: