PushON: WalkON Suit 에서의 Push-off 구현을 위한 선형 발목 구동기

Abstract

WalkON Suit has shown its speed and ability to overcome obstacles enough to assist the daily life of complete paraplegics. Actuating the ankle has contributed the large portion of this remarkable development since the ankle is the most distal joint so that small changes in its angle can severely affect the gait stability. However, still the ankle actuators have not enough power to implement “push-off” which enhances walking speed and efficiency by maintaining the dynamic states. PushON, a novel linear actuator thrusts up to 2870 N which is enough for push-off in WalkON Suit.