Dynamic exoskeleton : mechanical design of a human exoskeleton to enhance maximum dynamic performance

An exoskeleton was designed with the primary goal of enhancing the maximum dynamic capability of a human, thus allowing the user to run faster, jump higher, or traverse challenging terrain. This paper presents the mechanical design of an alpha prototype with a focus on increasing the maximum vertical jump height of a human. High torque motors were constrained to the body with two degrees of freedom using carbon fiber, aluminum, and other lightweight materials. The exoskeleton actuates the hip joint by comfortably providing force to three points on the body. Human testing showed a maximum increase in jump height of 13%.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2016

Author dc:creator

• Tims, Jacob (Jacob F.)

Advisor dc:contributor.advisor

• Sangbae Kim.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/105664

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/105664