Exoskeleton Power and Torque Requirements Based on Human Biomechanics

摘要

The Defense Advanced Research Projects Agency (DARPA) is funding the development of exoskeletal devices that are intended to increase the speed, strength, and endurance of soldiers in combat environments. The purpose for this work was to provide guidance for the design of the lower limbs of an exoskeletal device. In providing design guidance, the authors had two goals. The first goal was to provide estimates of the angles, torques, and powers for the ankles, knees, and hips of an exoskeleton based on data collected from humans. The second goal was to calculate the mean power required for various tasks and the total peak power needed by the lower limbs of the exoskeletal device for two 'typical' infantry missions.