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Table 1 Design parameters for all optimized exotendon systems. Designs A, B, and C consist of a single exotendon and a symmetric twin, each spanning one, three, or six joints respectively. Design D consists of two exotendons, each spanning six joints, plus their symmetric twins. Each exotendon has up to six moment arms r and a slack length (L slack). The cost function values are shown in the two rightmost columns. The cost function values without exotendon assistance were C mom = 14.09 N m and C pow = 20.14 W.

From: Exotendons for assistance of human locomotion

Moment optimized RIGHT LEFT    
  r hip (mm) r knee (mm) r ankle (mm) r hip (mm) r knee (mm) r ankle (mm) L slack (mm) C mom (N m) C pow (W)
A N/A N/A -60.20 N/A N/A N/A 6.54 11.17 18.68
B 21.18 0.23 -34.63 N/A N/A N/A -7.77 7.56 12.26
C 21.23 -0.61 -34.31 -8.08 -5.63 0.00 -4.04 7.04 12.09
D 7.77 4.25 -23.45 -5.24 0.65 21.91 -24.34 4.08 5.66
D -7.60 -11.92 -15.68 10.70 -4.37 -5.88 -11.53 4.08 5.66
Power optimized RIGHT LEFT    
  r hip (mm) r knee (mm) r ankle (mm) r hip (mm) r knee (mm) r ankle (mm) L slack (mm) C mom (N m) C pow (W)
A N/A N/A N/A -49.83 N/A N/A 1.04 11.97 18.18
B 33.06 12.76 -32.85 N/A N/A N/A -1.55 9.06 10.64
C -10.05 -2.74 13.79 10.87 3.22 -16.12 -89.62 7.57 9.73
D -4.69 -9.77 -19.04 10.89 -5.67 -0.17 -12.30 4.37 5.18
D 7.47 3.98 -25.11 -6.82 -2.18 24.18 -75.33 4.37 5.18