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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,...
The minimum level of series compliance that adequately protects the transmission from damage during foot collision fails to satisfy bandwidth requirements. As a resolution to this difficulty, parallel motor elasticity is used to lower the forces borne by the SEA, enhancing system force bandwidth. To minimize prosthesis cost of transport (COT) and motor or transmission size, we select a parallel stiffness...
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