XPED2: A Passive Exoskeleton with Artificial Tendons


Wearable exoskeletons might reduce human effort throughout walking. But, several of the present exoskeletons depend upon significant actuators and/or external power provides; this incorporates a negative impact on their efficiency and operation range. As an alternative, (quasi)passive exoskeletons have been developed. One amongst the proposed passive exoskeleton ideas is the exotendon concept of van den Bogert [1]. In this concept, long elastic cables span multiple joints. The cables will quickly store and transfer energy between joints. In simulation, the average absolute joint torque will be reduced by seventy onep.c. The simulations are primarily based on the hypotheses one) that the exoskeleton will not influence the joint angles and 2) the full joint torques and a reduction within the human joint torques ends up in a discount within the metabolic cost of walking. The goal of this article is to experimentally evaluate the exotendon concept and take a look at the hypotheses underlying it. We have a tendency to implemented the exotendon concept in an exceedingly lightweight exoskeleton. Experimental results show that the exotendons indeed reduced the typical absolute joint torques. But, the exotendons additionally influenced the joint kinematics, and also the metabolic value of walking did not decrease. Thus, the underlying assumptions of the exotendon concept are invalid. We have a tendency to conjointly found that, in practice, the amount of support given by the exotendons is restricted to about thirty fivep.c of the theoretical optimal support. For higher levels of support, the motion is hindered and also the support is experienced as uncomfortable by the users of the exoskeleton.

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