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Servo-Assisted Lower-Body Exoskeleton With A True Running Gait

This document summarizes research into developing a lower-body exoskeleton that allows for a true running gait. It describes the mechanical interface design of leveraged legs that can increase both force and motion output. The researchers built a prototype servo-assisted exoskeleton with a 2:1 fixed leverage ratio and tested it achieving over 1:1 leg extension. Gait analysis research examined walking and running gaits at different foot forces and how exoskeleton assistance could enable higher speed locomotion.

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Timothy Teo
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64 views20 pages

Servo-Assisted Lower-Body Exoskeleton With A True Running Gait

This document summarizes research into developing a lower-body exoskeleton that allows for a true running gait. It describes the mechanical interface design of leveraged legs that can increase both force and motion output. The researchers built a prototype servo-assisted exoskeleton with a 2:1 fixed leverage ratio and tested it achieving over 1:1 leg extension. Gait analysis research examined walking and running gaits at different foot forces and how exoskeleton assistance could enable higher speed locomotion.

Uploaded by

Timothy Teo
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Servo-Assisted Lower-Body Exoskeleton With a True Running Gait

John Dick and Bruce Crapuchettes Applied Motion, Inc.


935 N. Indian Hill Blvd. Claremont, CA 91711 jdick@springwalker.com

DARPA Workshop on Exoskeletons for Human Performance Augmentation (EHPA) March 1-3, 2000 Washington, DC

Applied Motion 2

Photo from Discover Magazine, December, 1992

Photo by Brian Smale

Applied Motion 3

Figure from US Patent 5,016,869

Promise of Amplified Man


Amazingly Difficult Problem
150 Years of Mechanical Technology and 30 years of high power servos, and still No Powered Exoskeleton An Important Problem -- Equivalent of Auto, Airplane, Space Flight

Problem deserves our Respect


Performance, Performance, Performance Must Not constrain solution at this Early Stage
Were sure to continue to fail Would we tell the Wright Bros. Gliders are good but IC Engine too loud, Must use Steam? Once found, adapt solutions to needs

Opportunity is Now
On the verge of breaking through -- precursors everywhere Once done, will be everywhere Applied Motion 4

Exoskeleton Sub-Systems
Power Electronics Power Source

Control Human Body

Servo Motor

Spring Useful Load Applied Motion 5

Torso Lift Mechanical lnterface Control

Attachment Points

Earth

Exoskeleton Mechanical Interface


Mechanical Interface is a part of all Exoskeleton designs to date
Mechanical coupling to users own feet
Provides absolute feedback to user Allows user input into gait
Energy Control

Direct interface not required in principle


Physical attachment could be replaced by Walk by Wire Not practical now

Several different interfaces have been studied


Parallel Interface -- adds force Series Interface -- adds motion Leveraged Leg Interface -- adds force and/or motion

High exoskeleton performance requires added force AND motion


Increased load requires added force High performance gaits require added motion
Load leveling required by fast walking gaits Stride lengthening required by enhanced running gaits

Applied Motion 6

Parallel Configuration
INCREASES STRENGTH Load Carrying High-g Gaits Energy Recovery Power Assist CONTROLLABILITY User Force is directly effective Gives Position feedback to user Passive assist requires disengagement to allow foot lift Active assist needs Impedance to allow direct user control Exoskeleton assist adds Force EXAMPLE -- Active-Skin Exoskeleton Applied Motion 7

Load
Assist

Series Configuration
INCREASES EXTENSION Shock Reduction Energy Recovery Possible Increased Joint Stress Can be added in combination with parallel assist CONTROLLABILITY User Motion is directly effective Passive Assist can cause footdragging, interfere with normal gait Gives direct Force feedback to user Active assist adds Motion EXAMPLE: Active Boot Applied Motion 8

Leveraged Leg
Load
LEVERAGE RATIO from 1:1 to :1 Leverage increases Strength, Assist adds Extension Load Carrying Capability High-g Gait Shock Reduction Power Assist Energy Recovery CONTROLLABILITY User Motion is directly effective
Even with Lock-up of Assist

Assist

Continuous Force feedback Active assist adds Motion


Single assist gives proportionally increased Strength and Motion

EXAMPLE -- SpringWalker Applied Motion 9

SpringWalker Approach
Spartan approach enables true running gait without servo assist
Enhances only the highest power mechanical circuit--leg extension
Leveraged Leg provides increased foot force Spring energy recovery Other degrees of freedom controlled directly by users legs

Significant Problems Identified and Solved


Leveraged Leg provides fail-safe user control and feedback Foot-dragging prevented by Single Spring acting in parallel on two legs Cable tension is proportional to lift--use to move effective support point directly under users center of gravity

Shows Walking gaits and a True Running gait with natural user leg action

Provides Excellent Interface between needs of human walking and running gaits and Servo Capabilities
Without breaking new ground, enables new servo-powered capabilities
15 MPH for extended periods Carry 200 lb. at a fast walk for extended periods

Applied Motion 10

Figures from US Patent 5,016,869

Applied Motion 11

Alternate Configuration, 2:1 Fixed Leverage Ratio

Applied Motion 12

Recent Accomplishments

Designed 1 kW/leg dc Servo Assist


Action in direct proportion to users motion
Motion adds to that directly generated by user Enhanced extension--overcomes 2:1 leverage motion loss

Constructed complete servo-assist system for one leg


10 lb NiCad battery pack for 15-30 minutes duration Commercial components -- weight 25 lb/leg

Tested operation in a single leg


Motion appropriate for walking and running Demonstrated > 1:1 leg extension ratio
Able to easily step up onto curb, stairs for first time

Applied Motion 13

Technology Needs
Mechanical Design
Prototype Leg is bulky but continuously adjustable
Matches spring force characteristic to gait requirements Good test bed for Gait and Control Studies

Much more compact designs are practical with active assist


Show fixed linear response, assist provides match to gait requirements

Gait Analysis is crucial in order to inform technology


Maybe someday technology can do it all -- breakthroughs will be accomplished by doing whats needed

Control Analysis and Implementation Servo Power Management Energy Management


Spring energy storage within one step Battery or other accumulator storage for short periods Prime Mover for long-term operation Applied Motion 14

Gait Analysis
Hip-Torque Mobility Model
Lateral Acceleration by Hip Torques No Net Leg Extension Upper body Tilts to Enable Torques
Acceleration

Torso Center of Gravity Hip Torque Pulls Leg Back, Pushes Torso Forward

Leg-Push Mobility Model


Lateral Acceleration by Leg Extension No Hip Torques Entire body Tilts to Enable Acceleration Mechanical Hoppers Demonstrate Feasibility
Acceleration

Torso Center of Gravity Extending Leg Pushes Torso Forward

Human Mobility
Our Legs Do Extend on Acceleration Where do we Fit on the Torque<---->Push Spectrum? Can Humans adjust to more emphasis on Leg Push?

Applied Motion 15

Gait Analysis
Walking Gait With Foot Force of 1g
1g 1g 1g 1g 1g

1g

1g

1g

1g

1g

Stride Length is equal to leg reach

Applied Motion 16

Gait Analysis
Running Gait With Foot Force of 2g

Constant 1g Downward Force

1g

1g

1g

1g

1g

1g

1g

1g

1g

1g Average Upward Force

2g

0g

2g

0g

2g

0g

2g

0g

2g

Stride Length is 2 x leg reach

Applied Motion 17

Gait Analysis
Running Gait With Foot Force of 3g
Constant 1g Downward Force
1g 1g 1g 1g 1g 1g 1g 1g 1g 1g

1g Average Upward Force

3g

0g

0g

3g

0g

0g

3g

0g

0g

3g

Stride Length is 3 x leg reach

Applied Motion 18

Gait Analysis
SpringWalker Locomotion Rates for 50" leg Symmetric gait with 30 degree forward swing
50

40

Forward Speed (feet/second)

30

a gW

r lke

fo leg

rce

20

2g

er le W alk

g for

ce

10

1g W alk

er leg for

ce

0 60 80 100 120 140 160 180 200 220 240

Cadence (steps per minute)

Computer Simulation based on Prototype Parameters

Applied Motion 19

Gait Analysis

Computer Simulation based on Prototype Parameters

Applied Motion 20

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