I designed a bilateral powered hip exoskeleton with two students in Dr. Meghan Huber's Human Robot Systems Lab.  The exoskeleton can adjust for different hip sizes using a tightening hip and lower back brace and for various leg lengths using a pin locking mechanism. We use this exoskeleton to primarily test human adaptation in response to external perturbations (see publications). Therefore we designed the exo to be lightweight (~1.3 kg without batteries) and backdrivable (quasi-direct drive 6:1 actuators from Dephy, Inc, max continuous torque ~3.6 N-m). 

We've found that by using this exoskeleton to induce asymmetry during treadmill walking, we can get a similar adaptation response to split-belt treadmill training in healthy individuals.