Abstract
The ankle joint exoskeleton is a supplementary apparatus intended to enhance human independence. This study presents the concept and initial evaluation of a passive ankle exoskeleton specifically engineered for movements involving dorsal flexion and plantar flexion. The device incorporates a novel mechanism design featuring four electric linear actuators, while the shank platform and foot platform are connected to the ball via a swivel joint. The functional testing validates the prototype's ability to operate effectively within the natural range of ankle joint motion. Preliminary findings indicate that the exoskeleton can diminish the activation of the calf muscles in the limb where the device is deployed.
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This research has been funded by the Ministry of Science and Higher Education of the Republic of Kazakhstan, Grant № AP13268857.
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Nursultan, Z., Ceccarelli, M., Balbayev, G. (2023). Experimental Characterization of Almaty Ankle Joint Exoskeleton. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_4
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DOI: https://doi.org/10.1007/978-3-031-45705-0_4
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