A Quasi-Passive Leg Exoskeleton for Load-Carrying Augmentation

  title={A Quasi-Passive Leg Exoskeleton for Load-Carrying Augmentation},
  author={Conor James Walsh and Ken Endo and Hugh M. Herr},
  journal={I. J. Humanoid Robotics},
A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variabledamper. Without a payload, the exoskeleton weighs 11.7kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive exoskeleton transfers on average 80% of the load to the ground during the single support phase of walking. By measuring the rate of oxygen… CONTINUE READING
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Biomimetic Design of an Under-Actuated Leg Exoskeleton For LoadCarrying Augmentation

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1 Excerpt

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