A Biomimetic Treadmill-Driven Ankle Exoskeleton: A Study in Able-Bodied Individuals.

Area of Science:

• Biomechanics
• Robotics
• Rehabilitation Engineering

Background:

• Ankle exoskeletons show research growth but lack widespread clinical adoption.
• Ideal rehabilitation exoskeletons need active power generation and passive control simplicity.
• Current devices often lack optimal assistance timing for rehabilitation.

Purpose of the Study:

• To present and evaluate a novel hybrid ankle exoskeleton for rehabilitation.
• To create a device integrating active assistance with simple control for push-off.
• To assess biomechanical and electromyographic responses to the hybrid exoskeleton.

Main Methods:

• Development of an Ankle Exoskeleton with Treadmill Actuation for Push-off Assistance (AETAPA).
• Testing with able-bodied individuals to measure ankle plantarflexion torque and power.
• Analysis of biomechanical and electromyographic (EMG) activity changes during assistance.

Main Results:

• The AETAPA provided assistance comparable to state-of-the-art active exos in timing and torque.
• Assistance was well-synchronized with users' biological efforts.
• A reduction in biological torque and power generation at the ankle was observed, proportional to the assistance provided.

Conclusions:

• The hybrid ankle exoskeleton effectively assists plantarflexion torque and power.
• The device achieves sophisticated assistance with a simple control strategy.
• This hybrid approach shows promise for clinical rehabilitation applications.