Fig. 3
Ankle Assembly. A Assembled view of an entire ankle assembly, including calf cuff, machined carbon fiber upright, tensioners, instrumented exoskeleton joint, and footplate. Tensioners compressed the Bowden sheath via a pull-and-twist knob and kept the cable transmission taut. B Exploded view of the exoskeleton joint. (1) Torque transducer (2) Strain gage. (3) Carbon fiber-reinforced pulley. (4) Steel cable transmission crimping site. (5) Thrust ball bearings. (6) 6 mm shoulder bolt. Four steel bolts fixed the torque sensor to the pulley. (7). Angle sensor assembly and exploded view. A gear shaft meshed with the pulley rotated a diametric magnet underneath a stationary Hall sensor. The resulting voltage was used to calculate joint angle and angular velocity. (8) Removable pulley bridge allowing assembly within the carbon fiber tube. (9) FSR connection