Design of a Passive Gait-based Ankle-foot Exoskeleton with Self-adaptive Capability

Wang, Xiangyang; Guo, Sheng; Qu, Bojian; Mu, Song; Qu, Haibo

doi:10.1186/s10033-020-00465-z

Cited by 28 publications

(46 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The ankle joint supports the human body’s activities such as standing, walking, sitting, and standing transfer, the ankle joint provides most of the energy to support the individual’s activities. 30,31 The lightweight passive ankle exercise device studied by Wang et al 32 consists of four parts: the clever clutch, an extension spring, a shank brace, and a shoe, the spring can store and release energy, as shown in Figure 8. The device can assist the walking process, allow the ankle to move freely, which is suitable for nearly all users.…”

Section: Resultsmentioning

confidence: 99%

Lower limb rehabilitation exoskeleton robot: A review

Zhou

Yang

Xue

2021

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Lower limb rehabilitation exoskeleton robots (LLRERs) play a positive role in lower limb rehabilitation and assistance for patients with lower limb disorders, and they are helpful to improve patients’ physical status. More and more experiments pay more attention to the kinematic and dynamic data characteristics of different patient groups. However, it is not clear whether these devices have broad adaptability and their clinical significance, so it is necessary to summarize and analyze these research results. This paper summarizes the LLRERs prototype and product in recent years, also compares the advantages and disadvantages of the theory and technology used in these research, and compares the functional characteristics of the devices, finally summarizes the aspects of the LLRERs to be improved. These devices apply advanced theories, techniques or structures, as well as human kinematics and dynamics data. However, due to the complexity of human body characteristics and movement rules, the theory or technology applied in the study design of LLRERs remains to be further studied, which can be improved in many aspects, such as improve the human-computer cooperation of equipment or carry out clinical trials. This paper can provide reference for researchers and designers in the future study, as well as understanding and selecting LLRERs for all kinds of therapist and patients.

show abstract

Section: Resultsmentioning

confidence: 99%

Lower limb rehabilitation exoskeleton robot: A review

Zhou

Yang

Xue

2021

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Ankle exoskeletons can be classified as either passive or active. Passive ankle exoskeletons ( Collins et al, 2015 ; Wang et al, 2020 ) store energy in elastic structures during early parts of stance phase and release it during push-off. Since there are no power supplies and electronics, these devices are extremely lightweight, but their controllability is limited.…”

Section: Introductionmentioning

confidence: 99%

Harnessing Energy of a Treadmill for Push-Off Assistance During Walking: In-Silico Feasibility Study

Tomc

Matjačić

2022

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Regaining efficient push-off is a crucial step in restitution of walking ability in impaired individuals. Inspired by the elastic nature of ankle plantarflexor muscle-tendon complex, we propose a novel rehabilitation device: Ankle Exoskeleton using Treadmill Actuation for Push-off assistance (AN-EXTRA-Push). Using a brake and an elastic tendon, it harnesses energy of a moving treadmill during stance phase, then releases it during push-off to aid with plantarflexion torque generation. We studied the feasibility of such a device and explored some key design and control parameters. A parameter sweep of three key parameters (brake engagement timing, brake disengagement timing and elastic tendon stiffness) was conducted in-silico. Results suggest that such a device is feasible and might inherently possess some features that simplify its control. Brake engagement timing and elastic tendon stiffness values determine the level of exoskeleton assistance. Our study affirms that timing of assistive torque is crucial, especially the timing of assistance termination which is determined by brake disengagement timing. Insights acquired by this study should serve as a basis for designing an experimental device and conducting studies on effects of AN-EXTRA-Push in humans.

show abstract

“…[7][8][9] In recent years, studies have shown that passive lower extremity exoskeletons that do not require external power that can also reduce the energy consumption of human walking, it uses the transformation of users' own energy to achieve the goal of improve mobility, 10,11 and many research related to the passive ankle exoskeleton are reported. 12,13 A passive exoskeleton was developed by Steven H. Collins et al in 2015, it is a lightweight spring device that parallels the spring with the user's calf muscles, thereby reducing muscle strength and reducing metabolic energy consumed by muscle contraction. The device uses a mechanical clutch to support the spring.…”

Section: Introductionmentioning

confidence: 99%

Design of a multi-resiliency exoskeleton and its physiologic cost evaluation in uphill walking and stair climbing locomotion

Cao

Ren

Cui

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Background In recent years, as the large own weight of active exoskeleton brings some difficulty to energy-sustainable, studies have shown that passive lower extremity exoskeletons can also reduce the energy consumption of human locomotion, but the energy saving is still relatively small compared with the total consumption. Methods A passive lower limb exoskeleton named Multi-Resiliency was described, and design parameters were estimated based on inverse dynamics. Furthermore, a series of experiments was designed for assessing the assisting effect of the exoskeleton in uphill walking and upstairs activities. Results In the inverse dynamics analysis, the spring release angle θmax was confirmed to be 45° for increasing assist performance of the exoskeleton. In the exoskeleton wearing experiments, the energy expenditure of subjects were decreased by 14.3% in uphill walking test and 16.0% in stair climbing test respectively. Conclusion The results show that the design of Multi-Resiliency exoskeleton is reasonable and it may effectively improve walking efficiency during uphill walking and stair climbing activities.

show abstract

Design of a Passive Gait-based Ankle-foot Exoskeleton with Self-adaptive Capability

Cited by 28 publications

References 32 publications

Lower limb rehabilitation exoskeleton robot: A review

Lower limb rehabilitation exoskeleton robot: A review

Harnessing Energy of a Treadmill for Push-Off Assistance During Walking: In-Silico Feasibility Study

Design of a multi-resiliency exoskeleton and its physiologic cost evaluation in uphill walking and stair climbing locomotion

Contact Info

Product

Resources

About