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A Joint Torque Augmentation Robot (JTAR) for Ankle Gait Assistance

[+] Author Affiliations
Kevin W. Hollander, Nathan Cahill, Robert Holgate, Ray Churchwell, Preston Clouse, Darren Kinney, Alexander Boehler, Jeffrey Ward

SpringActive, Inc., Tempe, AZ

Paper No. DETC2014-35653, pp. V05AT08A024; 6 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


A Joint Torque Augmentation Robot (JTAR) was developed to aid walking in an unconstrained outdoor environment. JTAR is a unidirectional, compliant actuator based wearable robot that is designed to power an ankle joint. Since the robot is used to navigate uneven terrain, nearly full ankle range of motion is required to accomplish this goal. The device powers the forward locomotion while permitting out of plane kinematic motion to occur. Metabolic savings of 9% to 20% have been observed while using the JTAR device, when compared to an unpowered/uncoupled state.

Copyright © 2014 by ASME
Topics: Torque , Robots



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