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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton

Fig. 1

Active autonomous ankle exoskeleton. The active autonomous ankle exoskeleton used a winch actuator on the shin to actuate the proximal ends of fiberglass struts attached to the boot. The winch actuator implemented a brushless DC motor and pulley transmission to wind a high strength cord. The motor controllers and batteries were worn around the chest and waist. Reflective markers on the strut were used to measure the deflection of the struts and the applied exoskeletal torque

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