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.
|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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