Design of wearable tensegrity structures focused on assisting walking motion of the lower limbs

Abstract

Tensegrity structures have unique characteristics of lightweight, flexibility, expandability and high stiffness due to strain hardening. The idea of wearing tensegrity structures was previously devised, suggesting the possibility of assisting physical movement. In this study, we aimed to design of tensegrity structures for wearing on lower limbs to assist walking. The structures are mainly placed on the side of lower limbs, and the below-knee structure on the front connects to the side structure with tension transmission and lower limb movements enabled by designing the connector with degrees of freedom to rotate. The results of loading tests show the linearity up to specific load and no hysteresis. Additionally, experiencing wearing the structures indicate that the wearable tensegrity structures will contribute to assisting lower limb movements for walking.