Our ankle exoskeleton is simple, lightweight, and highly capable. Putting it on is effortless, with a comfortable shin strap and heel/toe connections that can accommodate most types of footwear and users without customization. We have demonstrated that this device is suitable for a range of walking and running speeds up to 12 mph.



SPECIFICATIONS

Weight 0.8 kg
Peak Torque 120 Nm
Torque Control Bandwidth 17 Hz

The device applies torques in parallel with the user’s ankle joint to assist or resist their motion. Applied torque is measured with a load cell and joint angle with a high-resolution optical encoder. When paired with our bowden cable actuator unit and a simple torque control loop, force can be modulated at 17Hz. This device is based heavily on designs from the CMU Experimental Biomechatronics Lab.



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