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This paper presents the Achilles exoskeleton, an autonomous ankle exoskeleton that can generate 52% of the positive plantarflexion power around the ankle of a 80 kg individual with only 1.5 kg of mass added around the ankle joint. The mass of the exoskeleton is lower and the power density is higher than that of existing autonomous exoskeletons. This high power density was achieved by designing a series...
Weight and power autonomy are limiting the daily use of wearable exoskeleton. Lightweight, efficient and powerful actuation system are not easy to achieve. Choosing the right combinations of existing technologies, such as battery, gear and motor is not a trivial task. In this paper, we propose an optimization framework by setting up a power-based quasi-static model of the exoskeleton joint drivetrain...
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