Optimization of Actuator Stiffness and Actuation Timing of a Passive Ankle Exoskeleton: A Case Study Using a Musculoskeletal Modeling Approach
Jania Williams, Cody P. Anderson, Arash Mohammadzadeh Gonabadi, Farahnaz Fallahtafti, Sara A. Myers, Hafizur Rahman · 2025
Read Optimization of Actuator Stiffness and Actuation Timing of a Passive Ankle Exoskeleton: A Case Study Using a Musculoskeletal Modeling Approach by Jania Williams, Cody P. Anderson, Arash Mohammadzadeh Gonabadi, Farahnaz Fallahtafti, Sara A. Myers, Hafizur Rahman (2025) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-12839179.txt.
Description
Jania Williams and co-authors tune a passive ankle exoskeleton in simulation to find the spring stiffness and timing that save the most walking energy, in a case study from 2025. The device stores and returns energy at the ankle with a spring clutch. The team built it into the OpenSim body model, using motion data from one healthy man walking in his own shoes.
They ran every pairing of 25 stiffness values and ten trigger timings. The biggest saving, a 2.67 percent cut in energy cost, came at about 15 percent of stance with the softest spring, near 5.5 kilonewtons per meter. Energy cost curved smoothly with stiffness, and the soft end won. The authors say the model predicts good settings well enough to personalize such devices.
Catalog record
| CREATOR | Jania Williams, Cody P. Anderson, Arash Mohammadzadeh Gonabadi, Farahnaz Fallahtafti, Sara A. Myers, Hafizur Rahman |
|---|---|
| YEAR | 2025 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 33 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |