2026-09-19T19:52:36Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1232842021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Hugh Herr.
Koo, Bon Ho Brandon.
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-12-13T19:02:27Z
2019-12-13T19:02:27Z
2019
2019
https://hdl.handle.net/1721.1/123284
1130578072
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 35-36).
In this thesis, I designed and conducted an experiment that looks to confirm the metabolic cost decrease associated with the usage of an autonomous active ankle exoskeleton. The primary method to identify the associated metabolic costs was through the comparison of cardiovascular and respiratory activity during gait with and without the use of the exoskeleton. Rates of oxygen consumption, carbon dioxide production, and pulse were recorded for both control and experimental trials. Using these physiological responses, associated energy expenditure rates were calculated. The results of these trials suggest the presence of a quantifiable reduction in energy expenditure rate seen by the implementation of an autonomous active ankle exoskeleton in flat-terrain walking protocols. Additionally, the time to convergence, defined as the time a particular data-set takes to reach steady-state, was calculated using the same physiological responses. The results of this observation suggest that the time to convergence of metabolic indicators is much shorter than previously assumed. Finally, the potential benefits of utilizing a custom exoskeleton interface are quantified and elaborated.
by Bon Ho Brandon Koo.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
36 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Autonomous active ankle exo-skeleton devices provide metabolic cost reduction
Thesis
application/pdf
2019-12-13T19:02:26Z
Publication
Bachelor
MechE
unknown
unknown
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<Abstract>In this thesis, I designed and conducted an experiment that looks to confirm the metabolic cost decrease associated with the usage of an autonomous active ankle exoskeleton. The primary method to identify the associated metabolic costs was through the comparison of cardiovascular and respiratory activity during gait with and without the use of the exoskeleton. Rates of oxygen consumption, carbon dioxide production, and pulse were recorded for both control and experimental trials. Using these physiological responses, associated energy expenditure rates were calculated. The results of these trials suggest the presence of a quantifiable reduction in energy expenditure rate seen by the implementation of an autonomous active ankle exoskeleton in flat-terrain walking protocols. Additionally, the time to convergence, defined as the time a particular data-set takes to reach steady-state, was calculated using the same physiological responses. The results of this observation suggest that the time to convergence of metabolic indicators is much shorter than previously assumed. Finally, the potential benefits of utilizing a custom exoskeleton interface are quantified and elaborated.</Abstract>
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