Development and testing of a passive ankle exoskeleton

• Autorzy: Pardoel Scott , Doumit Marc

Identyfikatory

DOI

10.1016/j.bbe.2019.08.007

• Języki publikacji: EN

Abstrakty

EN

Walking Assist Exoskeletons are a class of assistive devices intended to restore a person's independence. Current powered Exoskeletons suffer from limited usability due to power demands. Furthermore, motors and battery packs are often cumbersome and heavy. A passive walking assist device is one that does not rely on an external power source, instead drawing energy out of the gait cycle itself. This study proposes the development and initial testing of a passive ankle exoskeleton intended to provide a plantarflexion torque assist during the push off phase of gait. The design incorporates a Pneumatic Artificial Muscle as a non-linear elastic element to store and release energy during walking. The device also integrates a novel clutch mechanism design to engage and disengage the spring element about the ankle joint during walking such that it does not impede the ankle motion during swing phase. Mechanical testing demonstrated the prototypes ability to function adequately over the natural range of an ankle joint and generate an ankle torque equal to at least 25% of natural ankle torque during normal walking. Using motion capture and electromyography systems, human testing was performed to examine the gait kinematic and muscle activation when the device is worn, unilaterally. The preliminary results show that the exoskeleton is able to reduce the activation of the calf muscles on the limb wearing the device. However, a decrease in ankle joint range of motion is noted in the limb with the device, and, to a much lesser extent the leg without the exoskeleton.

Słowa kluczowe

EN

passive walking assist exoskeleton; pneumatic artificial muscle; ankle exoskeleton

PL

egzoszkielet kończyny dolnej; sztuczny mięsień pneumatyczny; egzoszkielet stawu skokowego

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2019
• Tom: Vol. 39, no. 3
• Strony: 902--913
• Opis fizyczny: Bibliogr. 27 poz., rys., tab., wykr.

Twórcy

autor

Pardoel Scott

• Department of Mechanical Engineering, University of Ottawa 161 Louis-Pasteur, Colonel By Hall Ottawa, ON, K1N 6N5, Canada

autor

Doumit Marc

• Department of Mechanical Engineering, University of Ottawa 161 Louis-Pasteur, Colonel By Hall Ottawa, ON, K1N 6N5, Canada

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).