2026-09-19T08:06:48Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1034632022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Sangbae Kim.
Farid, Michael S
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2016-07-01T18:42:31Z
2016-07-01T18:42:31Z
2016
2016
http://hdl.handle.net/1721.1/103463
952190876
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 40-41).
Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis describes the first attempt to develop a powered exoskeleton suit that improves the maximum dynamic capability of a human. This Dynamic Exoskeleton is intended to enable to the user to run faster, jump higher, or traverse challenging terrain. This thesis presents a study on improving human vertical jump height using a powered exoskeleton. A simple human jump model is created, and dynamic simulation is utilized to determine the effectiveness of actuating the human hip joint for improving vertical jump height. A control system is developed and a series of human experiments with three test subjects are conducted. The test subjects improved their vertical jump heights by 13%, 6% and 5% respectively. The general challenges of actuating human joints and interfacing with the human body are presented.
by Michael S. Farid.
S.M.
41 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Dynamic exoskeleton : design and analysis of a human exoskeleton to enhance maximum dynamic performance
Human exoskeleton to enhance maximum dynamic performance
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis describes the first attempt to develop a powered exoskeleton suit that improves the maximum dynamic capability of a human. This Dynamic Exoskeleton is intended to enable to the user to run faster, jump higher, or traverse challenging terrain. This thesis presents a study on improving human vertical jump height using a powered exoskeleton. A simple human jump model is created, and dynamic simulation is utilized to determine the effectiveness of actuating the human hip joint for improving vertical jump height. A control system is developed and a series of human experiments with three test subjects are conducted. The test subjects improved their vertical jump heights by 13%, 6% and 5% respectively. The general challenges of actuating human joints and interfacing with the human body are presented.</Abstract>
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