David J. Lam

Accurately Modeling the Output Torque and Stiffness of Ankle-Foot Orthoses with a Compliant Linkage Model

The stiffness of passive lower-limb exoskeletons and orthoses governs their assistance. A common practice in the design of these systems is to assume the stiffness of the device is determined only by the intended elastic element (e.g., spring), while the structural components, human attachments, and