Design of a high torque, lightweight clutch for use in an exoskeleton to augment human running

Abstract

The metabolic augmentation of human locomotion though the use of wearable exoskeletons is a complex and difficult goal. One exoskeleton architecture adds parallel elasticity to the user during stance phase to unload the user's muscles and joints. Critical to this design is the creation of a lightweight, high torque clutch that can endure the forces associated with ground impact and stance phase in running and also disengage to permit a natural swing phase. The clutch makes use of radial, ratcheting clutch plates, a planetary gearbox, and a novel mechanical decoupling concept to meet the design requirements.