Seong, Mingyu (yeungnam university), Heo, Hayeong (Yeungnam University), Choi, Jungsu (Yeungnam University)

Semi-Passive Ankle Assist System Based on Lower Limb Dynamic Characteristics of Human Walking

Scheduled for presentation during the Invited Session "Design and control coupling in deformable mechatronic and robotic systems for physical interactions with humans" (WeAT3), Wednesday, July 16, 2025, 10:00−10:20, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Lower limbs are essential for movement. The ankle’s plantar-flexor muscles generate over 15% of gait force, propelling forward movement. Increasing their stiffness reduces energy consumption during walking. Therefore, assisting the ankle reduces energy expenditure. Traditional wearable robots use motors and sensors, but have issues like high costs and added weight. We propose an ankle assist system without motors or sensors, using the user’s ground reaction force (GRF) through an incompressible liquid and an origami-structured elastic mechanism. This design supports the stance phase without hindering the swing phase and helps reduce energy usage. In conclusion, our system overcomes limitations of existing wearable robots by eliminating motors and sensors, reducing weight, and enhancing comfort. By leveraging the user’s GRF, it effectively assists the ankle, potentially lowering energy expenditure and improving quality of life.