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Fig. 2 | Journal of NeuroEngineering and Rehabilitation

Fig. 2

From: Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton

Fig. 2

Waist assembly overview. A Closed and open pictures of the waist assembly module and harness system. The waist assembly module housed the motors, motor cartridges, PCB, battery, and wiring harness. B Assembled view of a motor cartridge assembly. C Exploded view of a motor cartridge assembly. (1) A 90 W Maxon motor with an 89:1 gearbox. (2) An 8-tooth sprocket welded onto the gearbox output shaft. (3) Reinforced motor blocks were the interface between the motor and cartridge. (4) A chain driven by the sprocket actuated the cable transmission. (5) A sliding cover on each cartridge permitted easy access to the chain assembly (6) A thrust bearing supported the motor shaft to prevent tip deflection during operation. (7) The cartridge was 3D-printed and reinforced with carbon fiber aligned with the long axis. (8) The Bowden sheaths guided steel cables down to the ankle assembly. (9) Wire strain relief. (10) Steel cable looped through final link on each side of the chain and passed through the Bowden sheath. (11) Steel bolts held the motor subassembly in place within the cartridge and attached the cartridge to the rest of the motor assembly. (12) A crimped swage held the steel cable looped through the chain. (13) A small guide component prevented cable stress concentrations and failure

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