The DOI matches its Crossref record; 22 of the 22 references it cites were found in a registry or an index.
An exoskeleton using controlled energy storage and release to aid ankle propulsion
Abstract
Symmetric ankle propulsion is the cornerstone of efficient human walking. The ankle plantar flexors provide the majority of the mechanical work for the step-to-step transition and much of this work is delivered via elastic recoil from the Achilles' tendon - making it highly efficient. Even though the plantar flexors play a central role in propulsion, body-weight support and swing initiation during walking, very few assistive devices have focused on aiding ankle plantarflexion. Our goal was to develop a portable ankle exoskeleton taking inspiration from the passive elastic mechanisms at play in the human triceps surae-Achilles' tendon complex during walking. The challenge was to use parallel springs to provide ankle joint mechanical assistance during stance phase but allow free ankle rotation during swing phase. To do this we developed a novel `smart-clutch' that can engage and disengage a parallel spring based only on ankle kinematic state. The system is purely passive - containing no motors, electronics or external power supply. This `energy-neutral' ankle exoskeleton could be used to restore symmetry and reduce metabolic energy expenditure of walking in populations with weak ankle plantar flexors (e.g. stroke, spinal cord injury, normal aging).
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“The developed ankle exoskeleton with this mechanism reduced the metabolic energy expenditure of walking in patients with weak ankle plantar flexors (e.g. SCI, stroke, normal ageing).”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [70]
Citations
Cites
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Dollar, A. M., & Herr, H. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.915453 · Cited by 1,336
Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions
Kuo, A. D., Donelan, J. M., & Ruina, A. (2005) · Exercise and Sport Sciences Reviews · doi:10.1097/00003677-200504000-00006 · Cited by 675
In vivo behaviour of human muscle tendon during walking
Fukunaga, T., Kubo, K., Kawakami, Y., Fukashiro, S., Kanehisa, H., & Maganaris, C. N. (2001) · Proceedings of the Royal Society B Biological Sciences · doi:10.1098/rspb.2000.1361 · Cited by 590
Muscle-tendon interaction and elastic energy usage in human walking
Ishikawa, M., Komi, P. V., Grey, M. J., Lepola, V., & Brüggemann, G.-P. (2005) · Journal of Applied Physiology · doi:10.1152/japplphysiol.00189.2005 · Cited by 499
Exoskeletons and orthoses: classification, design challenges and future directions
Herr, H. (2009) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-6-21 · Cited by 483
Nadeau, S. M., Gravel, D., Arsenault, B. A., & Bourbonnais, D. (1999) · Clinical Biomechanics · doi:10.1016/s0268-0033(98)00062-x · Cited by 414
It Pays to Have a Spring in Your Step
Sawicki, G. S., Lewis, C. L., & Ferris, D. P. (2009) · Exercise and Sport Sciences Reviews · doi:10.1097/jes.0b013e31819c2df6 · Cited by 251
Self-citationRecycling Energy to Restore Impaired Ankle Function during Human Walking
Collins, S. H., & Kuo, A. D. (2010) · PLoS ONE · doi:10.1371/journal.pone.0009307 · Cited by 221
Self-citationEnergy cost, mechanical work, and efficiency of hemiparetic walking
Detrembleur, C., Dierick, F., Stoquart, G. G., Chantraine, F., & Lejeune, T. M. (2003) · Gait & Posture · doi:10.1016/s0966-6362(02)00193-5 · Cited by 221
Manufacture of Passive Dynamic Ankle–Foot Orthoses Using Selective Laser Sintering
Faustini, M. C., Neptune, R. R., Crawford, R., & Stanhope, S. J. (2008) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2007.912638 · Cited by 209
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Reducing the energy cost of human walking using an unpowered exoskeleton
Collins, S. H., Wiggin, M. B., & Sawicki, G. S. (2015) · Nature · doi:10.1038/nature14288 · Cited by 967
Self-citationRecent developments and challenges of lower extremity exoskeletons
Chen, B., Ma, H., Qin, L.-Y., Gao, F., Chan, K.-M., Law, S.-W., Qin, L., & Liao, W.-H. (2016) · Journal of Orthopaedic Translation · doi:10.1016/j.jot.2015.09.007 · Cited by 501
“For example, Wiggin et al [70] proposed a biologically inspired design with a novel “smart-clutch” to engage and disengage the parallel springs in the exoskeleton.”
Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art
Huo, W., Mohammed, S., Moreno, J. C., & Amirat, Y. (2014) · IEEE Systems Journal · doi:10.1109/jsyst.2014.2351491 · Cited by 461
Biologically-inspired soft exosuit
Asbeck, A. T., Dyer, R. J., Larusson, A. F., & Walsh, C. J. (2013) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2013.6650455 · Cited by 241
Mooney, L. M., & Herr, H. (2016) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/s12984-016-0111-3 · Cited by 229
Metadata
- Authors
- Wiggin, M. B., Sawicki, G. S., & Collins, S. H.
- Affiliations
- University of North Carolina at Chapel Hill (US)
- Carnegie Mellon University (US)
- Venue
- 2011 IEEE International Conference on Rehabilitation Robotics
- Publisher
- IEEE
- Published
- 2011-06
- Volume
- 2011
- Pages
- 1-5
- ISSN
- 1945-7898 (ISSN-L)
- OpenAlex
- W2135079799
- Cited by
- 110
- References
- 22
- Citations by year
- 2026: 1 · 2025: 4 · 2024: 4 · 2023: 6 · 2022: 11 · 2021: 7 · 2020: 9 · 2019: 7 · 2018: 11 · 2017: 8 · 2016: 10 · 2015: 7 · 2014: 10 · 2013: 9 · 2012: 6
- FWCI
- 16.91
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- International Conference on Rehabilitation Robotics (publishedVersion)
- PubMed (publishedVersion)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Lower Extremity Biomechanics and Pathologies
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Keywords
- ankle exoskeleton, ankle plantarflexion, energy storage and release, parallel springs, triceps surae, gait symmetry, stroke rehabilitation, spinal cord injury, aging
- MeSH terms
- Ankle Joint, Biomechanical Phenomena, Electromyography, Humans, Orthotic Devices, Walking
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