Ankle Exoskeleton with a Symmetric 3 DoF Structure for Plantarflexion Assistance
Miha Dežman,Charlotte Marquardt,Tamim Asfour,Miha Dežman,Charlotte Marquardt,Tamim Asfour
Ankle exoskeletons can assist the ankle joint and reduce the metabolic cost of walking. However, many existing ankle exoskeletons constrain the natural 3 degrees of freedom (DoF) of the ankle to limit the exoskeleton’s weight and mechanical complexity, thereby compromising comfort and kinematic compatibility with the user.This paper presents a novel ankle exoskeleton frame design that allows for 3...
