IEEE Robotics & Automation Magazine - December 2017 - 66
By Robert Griffin, Tyson Cobb, Travis Craig, Mark Daniel,
Nick van Dijk, Jeremy Gines, Koen Krämer, Shriya Shah,
Olger Siebinga, Jesper Smith, and Peter Neuhaus
Stepping Forward
with Exoskeletons
Team IHMC's Design and
Approach in the 2016 Cybathlon
E
©ISTOCKPHOTO.COM/CHRISTY66
xoskeletons are a promising technology that enables
individuals with mobility limitations to walk again.
As the 2016 Cybathlon illustrated, however, the
community has a considerable way to go before
exoskeletons have the necessary capabilities to be
incorporated into daily life. While most exoskeletons power
only hip and knee flexion, Team Institute for Human and
Machine Cognition (IHMC) presents a new exoskeleton,
Mina v2, which includes a powered ankle dorsi/plantar flexion
(Figure 1). As our entry to the 2016 Cybathlon Powered
Exoskeleton Competition, Mina v2's performance allowed us
to explore the effectiveness of its powered ankle compared to
other powered exoskeletons for pilots with paraplegia. We
designed our gaits to incorporate powered ankle plantar
flexion to help improve mobility, which allowed our pilot to
navigate the given Cybathlon tasks quickly, including those
that required ascending movements, and reliably achieve average,
conservative walking speeds of 1.04 km/h (0.29 m/s). This
enabled our team to place second overall in the Powered
Exoskeleton Competition in the 2016 Cybathlon.
66
Digital Object Identifier 10.1109/MRA.2017.2754284
Date of publication: 15 November 2017
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
DECEMBER 2017
1070-9932/17©2017IEEE
http://www.ISTOCKPHOTO.COM/CHRISTY66
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2017
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IEEE Robotics & Automation Magazine - December 2017 - Cover3
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