Mixed terrain ankle assistance and modularity in wearable robotics

Cuddeback, Chancelor Frank (2023) Mixed terrain ankle assistance and modularity in wearable robotics. Masters thesis, Northern Arizona University.

Text Cuddeback_2023_mixed_terrain_ankle_assistance_modularity_wearable_robo.pdf - Published Version Download (2MB)

Abstract

Having been proven effective in reducing the metabolic cost of walking over the past 10 years, exoskeletons are leaving laboratory environments. In the real world, these systems will face new problems related to durability, assistance, and terrain variance. Systems capable of providing meaningful assistance during all-terrain ambulation will enable researchers to inspect exoskeletons' role in helping mobility-compromised individuals regain activities of daily living. By designing these systems in a modular manner, future work may be accelerated and improved. This thesis takes meaningful steps in the development of a modular platform for wearable robotics, the design, and validation of a high-power ankle exoskeleton using this modular platform and presents a novel controller capable of dynamically adapting its assistive profile in all-terrain conditions. The modular platform is shown to accelerate the development of unique wearable robotic systems. The high-power exoskeleton is shown to provide meaningful assistance during activities previously not possible for predicate designs. The controller is shown to reduce the muscle activity of a primary plantar flexor muscle at various terrain slopes.

Item Type:	Thesis (Masters)
Publisher’s Statement:	© Copyright is held by the author. Digital access to this material is made possible by the Cline Library, Northern Arizona University. Further transmission, reproduction or presentation of protected items is prohibited except with permission of the author.
Keywords:	Exoskeleton; Robotics; Mechanically-assisted walking; Prosthesis
Subjects:	T Technology > TJ Mechanical engineering and machinery
MeSH Subjects:	E Analytical,Diagnostic and Therapeutic Techniques and Equipment > E07 Equipment and Supplies
NAU Depositing Author Academic Status:	Student
Department/Unit:	Graduate College > Theses and Dissertations College of Engineering, Informatics, and Applied Sciences > Mechanical Engineering
Date Deposited:	09 Jul 2026 17:52
Last Modified:	09 Jul 2026 17:52
URI:	https://openknowledge.nau.edu/id/eprint/6286

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