Design & Systematic Evaluation of Power Transmission Efficiency of an Ankle Exoskeleton for Walking Post-Stroke

Abstract

Community-based locomotor training post-stroke has shown improvements in independent ambulation by increasing dose, intensity, and specificity of walking practice. Robotic ankle exoskeletons hold the potential to facilitate continued rehabilitation at home, but understanding what aspects of the design are most relevant for successful translation to the community presents a challenge. Here, we design a portable rigid ankle exoskeleton to use as a research platform for investigating the effect of assistance on post-stroke gait during overground, community-based walking. We first test our device with stroke survivors and validate its potential for future community use. We then present a systematic method for quantifying power transmission losses at each transmission stage from the battery to the wearer, using data gathered from walking trials with healthy participants. Our evaluation method revealed inefficiencies in power transfer at the interface level, likely resulting from the compliance in the structural components of the system, which motivates future redesign considerations. Overall, our method provides a framework to identify and characterize the components that must be redesigned to lower exoskeleton weight and maximize performance.