Development and Functional Evaluation of a Passive Ankle Exoskeleton to Support Military Locomotion

Luis Filipe Pratas Quinto; Pedro Pinheiro; Sérgio Gonçalves; Rafael Ferreira; Ivo Roupa; Miguel Tavares da Silva

doi:10.3849/aimt.01536

Authors

Luis Filipe Pratas Quinto CINAMIL/Military Academy
Pedro Pinheiro CINAMIL, Academia Militar, Instituto Universitário Militar, Lisbon, Portugal
Sérgio Gonçalves IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
Rafael Ferreira CINAMIL, Academia Militar, Instituto Universitário Militar, Lisbon, Portugal
Ivo Roupa IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
Miguel Tavares da Silva IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

DOI:

https://doi.org/10.3849/aimt.01536

Abstract

This work aims to develop an exoskeleton structure that complies with a set of military requirements in line with the current operational environment demands. A design process was implemented so that these requirements could be identified and embedded in the development of a functional prototype suited for laboratory trials. The prototype was manufactured using 3D scanning and additive manufacturing technologies, and a functional evaluation of the developed solution was performed by 30 subjects to assess its suitability for military applications. Results show that the developed design is suitable for military activities, incorporating requirements addressing ergonomics, range of motion and comfort. Also, additive manufacturing is suitable for developing tailor-made exoskeleton structures, allowing for the prompt production of affordable personalized parts.

Author Biographies

Pedro Pinheiro, CINAMIL, Academia Militar, Instituto Universitário Militar, Lisbon, Portugal

Maintenance Regiment
Lieutenant
Sérgio Gonçalves, IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

Mechanical Engineering Department, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

Researcher at Lisbon Biomechanics Laboratory
Rafael Ferreira, CINAMIL, Academia Militar, Instituto Universitário Militar, Lisbon, Portugal

Garrison Regiment No. 3

Lieutenant
Ivo Roupa, IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

Researcher at Lisbon Biomechanics Laboratory
Miguel Tavares da Silva, IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

Associate Professor at the Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

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