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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]
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Ge, J., Zhang, J., Chen, D. H., & Dong, T. (2024) · Robotic Intelligence and Automation · doi:10.1108/ria-11-2023-0162 · Cited by 1
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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