Exoskeleton Power and Torque Requirements Based on Human Biomechanics

Abstract

The Defense Advanced Research Projects Agency (DARPA) is funding the development of exoskeletal devices that are intended to increase the speed, strength, and endurance of soldiers in combat environments. The purpose for this work was to provide guidance for the design of the lower limbs of an exoskeletal device. In providing design guidance, the authors had two goals. The first goal was to provide estimates of the angles, torques, and powers for the ankles, knees, and hips of an exoskeleton based on data collected from humans. The second goal was to calculate the mean power required for various tasks and the total peak power needed by the lower limbs of the exoskeletal device for two "typical" infantry missions.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2002
Accession Number
ADA408684

Entities

People

  • Angela Boynton
  • Harrison P. Crowell Iii
  • Michael Mungiole

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies
  • Human Systems

DTIC Thesaurus Topics

  • Accuracy
  • Actuators
  • Army Personnel
  • Biomechanical Phenomena
  • Biomechanics
  • Control Systems
  • Engineering
  • Errors
  • Exoskeleton
  • Information Science
  • Joints (Anatomy)
  • Lower Extremity
  • Medical Personnel
  • Peak Power
  • Peak Values
  • Power Supplies
  • Skeletal Muscle

Readers

  • Defense Acquisition Program Management
  • Electrical Engineering
  • Neurotrauma and Rehabilitation Medicine.