Design of an Ankle Exoskeleton That Recycles Energy to Assist Propulsion During Human Walking

作者：Cunjin Wang, Lei Dai, Donghua Shen, Jiyuan Wu, Xingsong Wang, Mengqian Tian, Yunde Shi, Chun Su · 发表于：IEEE Transactions on Biomedical Engineering · 年份：2021 · DOI：10.1109/tbme.2021.3120716 · 被引用次数：31 · 研究领域：Prosthetics and Rehabilitation Robotics、Robotic Locomotion and Control、Stroke Rehabilitation and Recovery

OBJECTIVE: Active exoskeletons can handle different walking conditions, but require bulky components (e.g., motors) that need a significant source of power to do so. Purely passive exoskeletons are lightweight and energy-neutral, containing energy-recycling mechanisms that capture energy loss during negative power phases and return it as walking assistance. However, they are usually designed for stereotyped gaits (e.g., walking at fixed speed) and thus show poor adaptivity for variable conditions. This study is aimed to overcome these issues. METHODS: A quasi-passive ankle exoskeleton is designed to integrate the merits of both active and passive exoskeletons, which captures the heel-strike energy loss and recycles it into propulsion. A novel, lightweight, energy-saving clutch and a heel-strike energy-storage mechanism are developed. They are coupled by a series spring that assists user's calf muscles. Six healthy subjects walked with the device on level ground and inclined surfaces to validate its functionality. RESULTS: Level ground studies indicate that the energy-storage mechanism enhances the assistance by increasing the output torque of the exoskeleton. Reductions in metabolic cost (6.4 ± 1.3%, p < 0.05) were observed. During uphill walking, the assistance torque decreased compared with that on level ground, but it still reduced overall metabolic cost compared with baseline walking. During downhill walking, the assistance torque increased, but metabolic cost also slight...