Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing

Khazoom, Charles; Veronneau, Catherine; Lucking Bigué, Jean-Philippe; Grenier, Jordane; Girard, Alexandre; Plante, Jean‐Sébastien

doi:10.1109/lra.2019.2924852

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Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing

Published in IEEE Robotics and Automation Letters • Jun 24, 2019

Authors:

Charles Khazoom

Catherine Veronneau

Jean-Philippe Lucking Bigué

Abstract

Lower-limb exoskeletons have shown increasing potential to augment human performance in many locomotion tasks. However, most lower-limb exoskeletons use highly geared, nonback-drivable actuators with limited power and force bandwidth in order to be light enough to be carried without metabolic penalt...

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Exoskeleton

Jumping

Magnetorheological fluid

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