Analysis of a passive ankle exoskeleton for reduction of metabolic costs during walking

Abstract

Modern conflicts demand substantial physical and psychological exertion, often resulting in fatigue and diminished combat or operational readiness. Several exoskeletons have been developed recently to address these challenges, presenting various limitations that affect their operational or everyday usability. This article evaluates the performance of a dual-purpose passive ankle exoskeleton developed for the reduction of metabolic costs during walking, seeking to identify a force element that could be applied to the target population. Based on the 6-min walk test, twenty-nine subjects participated in the study using three different force elements. The results indicate that it is possible to reduce metabolic expenditure while using the developed exoskeleton. Additionally, the comfort and range of motion results verify the exoskeleton's suitability for use in uneven terrain and during extended periods. Nevertheless, the choice of the force element should be tailored to each user, and the control system should be adjustable to optimise the exoskeleton's performance.