Design and Development of a Lightweight Ankle Exoskeleton for Human Walking Augmentation

RESUMÉ La plupart des exosquelettes motorisés de la cheville ont une masse distale considérable, ce qui limite leur capacité à réduire l’énergie dépensée par l’utilisateur durant la marche. L’objectif de notre travail est de développer un exosquelette de chevilles avec le minimum de masse distale ajoutée comparé aux exosquelettes motorisés de chevilles existants. Aussi, l’exosquelette doit fournir au moins 50 Nm de support au couple de flexion plantaire. L’exosquelette développé dans le cadre de ce mémoire utilise deux câbles Bowden pour transmettre la force mécanique de l’unité d’actionnement attachée à la taille aux deux tiges en fibre de Carbonne attachées à la botte de l’utilisateur. Quand les deux tiges sont tirées, ils génèrent un couple qui supporte le mouvement de flexion plantaire à la fin de la phase d’appui du cycle de marche. Une pièce conçue sur mesure et imprimé en plastique par prototypage rapide a été attachée au tibia pour ajuster la direction des câbles. Une étude d’optimisation a été effectuée pour minimiser la masse des tiges limitant ainsi la masse distale de l’exosquelette (attaché au tibia et pied) à seulement 348 g. Le résultat principal obtenu à partir des tests de marche est la réduction de l’activité des muscles soléaire et gastrocnémien du sujet par une moyenne de 37% et 44% respectivement lors de la marche avec l’exosquelette comparée à la marche normale. Cette réduction s’est produite quand l’exosquelette a fourni une puissance mécanique de 19 ± 2 W avec un actionnement qui a commencé à 38% du cycle de marche. Ce résultat démontre le potentiel de notre exosquelette à réduire le cout métabolique de marche et souligne l’importance de réduire la masse distale d’un exosquelette de marche.----------ABSTRACT Most of powered ankle exoskeletons add considerable distal mass to the user which limits their capacity to reduce the metabolic energy of walking. The objective of the work presented in this master thesis is to develop an ankle exoskeleton with a minimum added distal mass compared to existing autonomous powered ankle exoskeletons, while providing at least 50 Nm of assistive plantar flexion torque. The exoskeleton developed in this master thesis uses Bowden cables to transmit the mechanical force from the actuation unit attached to the waist to the carbon fiber struts fixed on the boot. As the struts are pulled, they create an assistive ankle plantar flexion torque. A 3D-printed brace was attached to the shin to adjust the direction of the cables. A design optimization study was performed to minimize the mass of the struts, thereby limiting the total added distal mass, attached to the shin and foot, to only 348 g. The main result obtained from walking tests was the reduction of the soleus and gastrocnemius muscles activity by an average of 37% and 44% respectively when walking with the exoskeleton compared to normal walking. This reduction occurred when the exoskeleton delivered a mechanical power of 19 ± 2 W with an actuation onset fixed at 38% of the gait cycle. This result shows the potential of the proposed exoskeleton to reduce the metabolic cost of walking and emphasizes the importance of minimizing the distal mass of ankle exoskeletons

The deep space network

Summaries are given of Deep Space Network progress in flight project support, tracking and data acquisition research and technology, network engineering, hardware and software implementation, and operations

Technology 2000, volume 1

The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

Research & Technology 2005

This report selectively summarizes NASA Glenn Research Center's research and technology accomplishments for fiscal year 2005. It comprises 126 short articles submitted by the staff scientists and engineers. The report is organized into three major sections: Programs and Projects, Research and Technology, and Engineering and Technical Services. A table of contents and an author index have been developed to assist readers in finding articles of special interest. This report is not intended to be a comprehensive summary of all the research and technology work done over the past fiscal year. Most of the work is reported in Glenn-published technical reports, journal articles, and presentations prepared by Glenn staff and contractors. In addition, university grants have enabled faculty members and graduate students to engage in sponsored research that is reported at technical meetings or in journal articles. For each article in this report, a Glenn contact person has been identified, and where possible, a reference document is listed so that additional information can be easily obtained. The diversity of topics attests to the breadth of research and technology being pursued and to the skill mix of the staff that makes it possible. For more information, visit Glenn's Web site at http://www.nasa.gov/glenn/. This document is available online (http://www.grc.nasa.gov/WWW/RT/). For publicly available reports, visit the Glenn Technical Report Server (http://gltrs.grc.nasa.gov)

Engineering evaluations and studies. Volume 3: Exhibit C

High rate multiplexes asymmetry and jitter, data-dependent amplitude variations, and transition density are discussed

Satellite Communications

This study is motivated by the need to give the reader a broad view of the developments, key concepts, and technologies related to information society evolution, with a focus on the wireless communications and geoinformation technologies and their role in the environment. Giving perspective, it aims at assisting people active in the industry, the public sector, and Earth science fields as well, by providing a base for their continued work and thinking

NASA Tech Briefs, April 1992

Topics covered include: New Product Ideas; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences

Aeronautical Engineering, a continuing bibliography with indexes, supplement 173

This bibliography lists 704 reports, articles and other documents introduced into the NASA scientific and technical information system in March 1984