NDLI: Autonomous exoskeleton reduces metabolic cost of walking

Content Provider	IEEE Xplore Digital Library
Author	Mooney, L.M. Rouse, E.J. Herr, H.M.
Copyright Year	2014
Description	Author affiliation: Biomechatronics Group, MIT Media Lab., Cambridge, MA, USA (Mooney, L.M.; Rouse, E.J.; Herr, H.M.)
Abstract	We developed an autonomous powered leg exoskeleton capable of providing large amounts of positive mechanical power to the wearer during powered plantarflexion phase of walking. The autonomous exoskeleton consisted of a winch actuator fasted to the shin which pulled on fiberglass struts attached to a boot. The fiberglass struts formed a rigid extension of the foot when the proximal end of the strut was pulled in forward by the winch actuator. This lightweight, geometric transmission allowed the electric winch actuator to efficiently produce biological levels of power at the ankle joint. The exoskeleton was powered and controlled by lithium polymer batteries and motor controller worn around the waist. Preliminary testing on two subjects walking at 1.4 m/s resulted in the exoskeleton reducing the metabolic cost of walking by 6-11% as compared to not wearing the device. The exoskeleton provided a peak mechanical power of over 180 W at each ankle (mean standard ± deviation) and an average positive mechanical power of 27 ± 1 W total to both ankles, while electrically using 75-89 W of electricity. The batteries (800 g) used in this experiment are estimated to be capable of providing this level of assistance for up to 7 km of walking.
Sponsorship	IEEE Eng. Med. Biol. Soc.
Starting Page	3065
Ending Page	3068
File Size	745016
Page Count	4
File Format	PDF
ISBN	9781424479290
ISSN	1557170X
DOI	10.1109/EMBC.2014.6944270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Legged locomotion Actuators Winches Joints Brushless motors Batteries
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Preliminary investigation of effects of a quasi-passive knee exoskeleton on gait energetics

Reducing muscle effort in walking through powered exoskeletons

Enhancing stance phase propulsion during level walking by combining fes with a powered exoskeleton for persons with paraplegia

Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable-damping prosthetic knee

Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits

Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia

Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Compliant gait assistance triggered by user intention

Assessing neuromuscular mechanisms in human-exoskeleton interaction

Autonomous exoskeleton reduces metabolic cost of walking

Similar Documents

Preliminary investigation of effects of a quasi-passive knee exoskeleton on gait energetics

Reducing muscle effort in walking through powered exoskeletons

Enhancing stance phase propulsion during level walking by combining fes with a powered exoskeleton for persons with paraplegia

Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable-damping prosthetic knee

Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits

Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia

Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Compliant gait assistance triggered by user intention

Assessing neuromuscular mechanisms in human-exoskeleton interaction

Autonomous exoskeleton reduces metabolic cost of walking