Exoskeleton Design Considerations based on the Lower Extremity Musculoskeletal Anatomy

Abstract: This paper focuses on understanding the musculoskeletal anatomy of the lower extremities and how the joint movement is controlled by the muscles. The lower extremity has been subdivided into three major sections: the hip joint, the knee joint, and the ankle joint. For each of these joints, attention is given to which muscles control the motion or degrees of freedom with respect to these joints. The muscles are grouped by their major motion like flexion or extension and additional detail is provide with respect to secondary and more complex motion. Drawings were made showing the location of the major flexors and extensors for the three major joints. Furthermore, the muscles were grouped within tables by their motion and major innervations. This information is based on the medical anatomical and physiology texts included within the references. These drawings and tables can be helpful for quick reference and understanding the motion for each of the lower extremity joints, thus improving surface EMG sensor placement and positioning when designing lower limb prosthetics or exoskeletons.

Keywords: Exoskeleton Design, Lower Extremity, Musculoskeletal Anatomy

DOI: 10.54941/ahfe1001014

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