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Development and testing of a passive ankle exoskeleton

Pardoel Scott, Doumit Marc

Biocybernetics and Biomedical Engineering

2019

Vol. 39, no. 3

902--913

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.

Computer aided design of unconventional robotic devices

Jakubčik M., Kumičakowa D.

Postępy Nauki i Techniki

2011

nr 6

120-126

The aid of 3D CAD/CAM/CAE systems represents very important power tool in process of the technical system design. Their utilisation enables an increasing of the high added value of solved construction tasks. But complex CA systems are not “selfsolvable” systems and therefore the intellect and abilities of designers will remain on the first position.

Wykorzystywanie systemów komputerowych CAD/CAM/CAE w znaczącym stopniu usprawnia proces projektowania urządzeń technicznych. Posługiwanie się nimi zwiększa wyraźnie wydajność pracy i pozwala na skuteczne rozwiązywanie występujących problemów konstrukcyjnych. Jednakże systemy wspierania prac inżynierskich nie są systemami samo-rozwiązującymi napotkane problemy, w związku z czym nadal na pierwszym miejscu niezbędny jest intelekt, wiedza i umiejętności korzystających z nich projektantów.