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A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Hip exoskeletons provide an important hardware basis for lower-limb rehabilitation and locomotor assistance. Laboratory rehabilitation assessment and system development require substantial actuation and computing resources, whereas mobile assistance requires untethered portability. Integrating both capabilities within one reusable platform remains a central design challenge. This paper presents a reconfigurable bidirectional cable-driven hip exoskeleton platform that rapidly switches between bench-mounted and backpack-mounted actuation while sharing one cable-free wearable hip interface. The p

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