Design of a high torque, lightweight clutch for use in an exoskeleton to augment human running

[摘要] The metabolic augmentation of human locomotion though the use of wearable exoskeletons is a complex and difficult goal. One exoskeleton architecture adds parallel elasticity to the user during stance phase to unload the user;;s muscles and joints. Critical to this design is the creation of a lightweight, high torque clutch that can endure the forces associated with ground impact and stance phase in running and also disengage to permit a natural swing phase. The clutch makes use of radial, ratcheting clutch plates, a planetary gearbox, and a novel mechanical decoupling concept to meet the design requirements.

[发布机构] Massachusetts Institute of Technology