Analysis of a passive ankle exoskeleton for reduction of metabolic costs during walking  

作　　者：Luís Quinto Pedro Pinheiro Sergio B.Goncalves Ivo Roupa Paula Simoes Miguel Tavares da Silva 

机构地区：[1]CINAMIL,Academia Militar,Instituto Universitario Militar,Lisbon,Portugal [2]IDMEC,Instituto Superior Tecnico,Universidade de Lisboa,Lisbon,Portugal

出　　处：《Defence Technology（防务技术）》2024年第7期62-68,共7页Defence Technology

基　　金：the Portuguese Army,through CINAMIL,within project ELITE2-Enhancement LITe Exoskeleton;Foundation for Science and Technology (FCT),through IDMEC,under LAETA,project UIDB/50022/2020 for supporting this research。

摘　　要：Modern conflicts demand substantial physical and psychological exertion,often resulting in fatigue and diminished combat or operational readiness.Several exoskeletons have been developed recently to address these challenges,presenting various limitations that affect their operational or everyday usability.This article evaluates the performance of a dual-purpose passive ankle exoskeleton developed for the reduction of metabolic costs during walking,seeking to identify a force element that could be applied to the target population.Based on the 6-min walk test,twenty-nine subjects participated in the study using three different force elements.The results indicate that it is possible to reduce metabolic expenditure while using the developed exoskeleton.Additionally,the comfort and range of motion results verify the exoskeleton's suitability for use in uneven terrain and during extended periods.Nevertheless,the choice of the force element should be tailored to each user,and the control system should be adjustable to optimise the exoskeleton's performance.

关 键 词：Ankle passive exoskeleton Metabolic cost reduction Dual-use exoskeleton GAIT BIOMECHANICS 

分 类 号：TJ5[兵器科学与技术—军事化学与烟火技术]