TY - GEN
T1 - Design and modeling of a variable stiffness barrel mechanism for ankle exoskeleton
AU - Soliman, Ali M.
AU - Hussain, Irfan
AU - Awad, Mohammad I.
AU - Gan, Dongming
N1 - Funding Information:
We would like to thank Mr. Ricardo De Jesus for his great help in fabricating and improving on the Barrel mechanism and experiment Bed. This work was supported by Khalifa University of Science and Technology under Award RC1-2018-KUCARS.
Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - In this paper, we present a novel variable-stiffness joint for a walking assistance ankle exoskeleton. This design is adaptive to user needs in the sense that it can aid in different types of motion, i.e. walking, jogging and running, through different stiffness levels. We created a concept that utilizes multiple springs that could contort into different orientations in order to create a fully compliant ankle exoskeleton. The design provides a wide range of assistive torques without constant replacement of parts or springs for each type of activity. This design can be utilized by a wide range of people engaging in different types of activities. Those could be individuals with an active lifestyle or the elderly suffering from muscular atrophy.
AB - In this paper, we present a novel variable-stiffness joint for a walking assistance ankle exoskeleton. This design is adaptive to user needs in the sense that it can aid in different types of motion, i.e. walking, jogging and running, through different stiffness levels. We created a concept that utilizes multiple springs that could contort into different orientations in order to create a fully compliant ankle exoskeleton. The design provides a wide range of assistive torques without constant replacement of parts or springs for each type of activity. This design can be utilized by a wide range of people engaging in different types of activities. Those could be individuals with an active lifestyle or the elderly suffering from muscular atrophy.
UR - http://www.scopus.com/inward/record.url?scp=85096093484&partnerID=8YFLogxK
U2 - 10.1115/DETC2020-22650
DO - 10.1115/DETC2020-22650
M3 - Conference contribution
AN - SCOPUS:85096093484
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 44th Mechanisms and Robotics Conference (MR)
T2 - ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
Y2 - 17 August 2020 through 19 August 2020
ER -