Design of a Clutch – Spring Knee Exoskeleton for Running

  title={Design of a Clutch – Spring Knee Exoskeleton for Running},
  author={Grant Elliott and Andrew Marecki and Hugh Herr},
Because the leg is known to exhibit springlike behavior during the stance phase of running, several exoskeletons have attempted to place external springs in parallel with some or all of the leg during stance, but these designs have failed to permit natural kinematics during swing. To this end, a parallel-elastic exoskeleton is presented that introduces a clutch to disengage the parallel leg-spring and thereby not constrain swing-phase movements of the biological leg. A custom interference… CONTINUE READING


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