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In this paper, we present an under-actuated model of human walking, comprising only a soleus muscle and flexion/extension monoarticular hip muscles. The remaining muscle groups of the human leg are modeled using quasi-passive, series-elastic clutch elements. We hypothesize that series-elastic clutch units spanning the knee joint in a musculoskeletal arrangement can capture the dominant mechanical...
A transtibial amputee does not have a functional gastrocnemius muscle, which affects the knee as well as the ankle joint. In this investigation, we developed a transtibial prosthesis comprising an artificial gastrocnemius mechanism as well as a powered ankle-foot device. A pilot study was conducted with a bilateral transtibial amputee walking at a self-selected speed. The trial compared muscle electromyography...
In this paper, we study the mechanical behavior of leg muscles and tendons during human walking in order to motivate the design of economical robotic legs. We hypothesize that quasi-passive, series-elastic clutch units spanning the knee joint in a musculoskeletal arrangement can capture the dominant mechanical behaviors of the human knee in level-ground walking. Since the mechanical work done by the...
The majority of commercial prosthetic knees are passive in nature and therefore cannot replicate the positive mechanical work exhibited by the natural human knee in early and late stance. In contrast to traditional purely dissipative prosthetic knees, we propose a biomimetic active agonist-antagonist structure designed to reproduce both positive and negative work phases of the natural joint while...
In this paper we describe the design and preliminary evaluation of an energetically-autonomous powered knee exoskeleton to facilitate running. The device consists of a knee brace in which a motorized mechanism actively places and removes a spring in parallel with the knee joint. This mechanism is controlled such that the spring is in parallel with the knee joint from approximately heel-strike to toe-off,...
In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we review the history and discuss the state-of-the-art...
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