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. Author manuscript; available in PMC: 2021 Mar 18.
Published in final edited form as: IEEE ASME Trans Mechatron. 2020 May 18;25(4):1794–1802. doi: 10.1109/tmech.2020.2995134

TABLE III.

Comparison of Hip Exoskeletons Performance of three Actuatoion paradigms

Parameter Unit Conventional [13] SEA [17] QDD (this work)
Output nominal torque Nm 8 40 17.5
Actuator mass kg ~0.50 1.80 0.77
Actuator nominal
torque density		 Nm/kg 16 22.2 20.7
Control bandwidth Hz 5.1 4.2 73.3
Backdrive torque Nm 2.88 6.10 0.97