Evaluation of the Achilles ankle exoskeleton

Wietse van Dijk; Cor Meijneke; Herman van der Kooij

doi:10.1109/TNSRE.2016.2527780

Evaluation of the Achilles ankle exoskeleton

Wietse van Dijk, Cor Meijneke, Herman van der Kooij

Biomechatronics & Human-Machine Control

Research output: Contribution to journal › Article › Scientific › peer-review

61 Citations (Scopus)

Abstract

This paper evaluates the Achilles exoskeleton. The exoskeleton is intended to provide push-off assistance for healthy subjects during walking. The assistance is provided by a series elastic actuator that has been optimized to provide maximal push-off power. The paper presents the control method of the exoskeleton and the evaluation of the exoskeleton. Benchtop tests evaluated the performance of the actuator and human experiments evaluated the working of the complete system. The actuator can track force reference signals with amplitudes of 1 N to 100 N with a bandwidth between 8.1 Hz and 20.6 Hz, and outputs a maximum mechanical power of 80.2 W. Based on these results the augmentation factor predicted that the exoskeleton can generate a 33 W decrease in metabolic cost. In contrast with this prediction, in the human experiments we found an increase in metabolic rate for assistance (21.2 W) and no assistance (22.7 W) compared to baseline.

Original language	English
Pages (from-to)	151-160
Journal	IEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume	25
Issue number	2
DOIs	https://doi.org/10.1109/TNSRE.2016.2527780
Publication status	Published - 2017

Keywords

Exoskeleton
Ankle
Augmentation

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/TNSRE.2016.2527780

Cite this

@article{71925c5a0c61460eaf24e04416699a43,

title = "Evaluation of the Achilles ankle exoskeleton",

abstract = "This paper evaluates the Achilles exoskeleton. The exoskeleton is intended to provide push-off assistance for healthy subjects during walking. The assistance is provided by a series elastic actuator that has been optimized to provide maximal push-off power. The paper presents the control method of the exoskeleton and the evaluation of the exoskeleton. Benchtop tests evaluated the performance of the actuator and human experiments evaluated the working of the complete system. The actuator can track force reference signals with amplitudes of 1 N to 100 N with a bandwidth between 8.1 Hz and 20.6 Hz, and outputs a maximum mechanical power of 80.2 W. Based on these results the augmentation factor predicted that the exoskeleton can generate a 33 W decrease in metabolic cost. In contrast with this prediction, in the human experiments we found an increase in metabolic rate for assistance (21.2 W) and no assistance (22.7 W) compared to baseline.",

keywords = "Exoskeleton, Ankle, Augmentation",

author = "{van Dijk}, Wietse and Cor Meijneke and {van der Kooij}, Herman",

year = "2017",

doi = "10.1109/TNSRE.2016.2527780",

language = "English",

volume = "25",

pages = "151--160",

journal = "IEEE Transactions on Neural Systems and Rehabilitation Engineering",

issn = "1534-4320",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

number = "2",

}

TY - JOUR

T1 - Evaluation of the Achilles ankle exoskeleton

AU - van Dijk, Wietse

AU - Meijneke, Cor

AU - van der Kooij, Herman

PY - 2017

Y1 - 2017

N2 - This paper evaluates the Achilles exoskeleton. The exoskeleton is intended to provide push-off assistance for healthy subjects during walking. The assistance is provided by a series elastic actuator that has been optimized to provide maximal push-off power. The paper presents the control method of the exoskeleton and the evaluation of the exoskeleton. Benchtop tests evaluated the performance of the actuator and human experiments evaluated the working of the complete system. The actuator can track force reference signals with amplitudes of 1 N to 100 N with a bandwidth between 8.1 Hz and 20.6 Hz, and outputs a maximum mechanical power of 80.2 W. Based on these results the augmentation factor predicted that the exoskeleton can generate a 33 W decrease in metabolic cost. In contrast with this prediction, in the human experiments we found an increase in metabolic rate for assistance (21.2 W) and no assistance (22.7 W) compared to baseline.

AB - This paper evaluates the Achilles exoskeleton. The exoskeleton is intended to provide push-off assistance for healthy subjects during walking. The assistance is provided by a series elastic actuator that has been optimized to provide maximal push-off power. The paper presents the control method of the exoskeleton and the evaluation of the exoskeleton. Benchtop tests evaluated the performance of the actuator and human experiments evaluated the working of the complete system. The actuator can track force reference signals with amplitudes of 1 N to 100 N with a bandwidth between 8.1 Hz and 20.6 Hz, and outputs a maximum mechanical power of 80.2 W. Based on these results the augmentation factor predicted that the exoskeleton can generate a 33 W decrease in metabolic cost. In contrast with this prediction, in the human experiments we found an increase in metabolic rate for assistance (21.2 W) and no assistance (22.7 W) compared to baseline.

KW - Exoskeleton

KW - Ankle

KW - Augmentation

U2 - 10.1109/TNSRE.2016.2527780

DO - 10.1109/TNSRE.2016.2527780

M3 - Article

SN - 1534-4320

VL - 25

SP - 151

EP - 160

JO - IEEE Transactions on Neural Systems and Rehabilitation Engineering

JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering

IS - 2

ER -

Evaluation of the Achilles ankle exoskeleton

Abstract

Keywords

UN SDGs

Access to Document

Fingerprint

Cite this