The human ankle joint plays a crucial role during walking. At the push-off phase the ankle plantarflexors generate the highest power output of all the lower limb joints. The potential of the ankle plantarflexors is affected by numerous pathologies and injuries, which cause a decrease in the ability of the subject to achieve a natural gait pattern. Active orthoses have shown to have potential in assisting these subjects. The design of such robots is very challenging due to the contrasting design requirements of wearability (light weight and compact) and high torques capacity. This paper presents the development of a high-torque ankle actuator to assist the ankle joint in both dorsiflexion and plantarflexion. The compliant actuator is a spindle-driven MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator). The design of the actuator was made to keep its weight as low as possible, while being able to provide high torques. As a result of this novel design, the actuator weighs 1.18kg. Some static characterization tests were perfomed on the actuator and their results are shown in the paper.
Original languageEnglish
Title of host publication15th IEEE International Conference on Rehabilitation Robotics (ICORR 2017)
Number of pages6
StatePublished - Jul 2017
Event15th IEEE International Conference on Rehabilitation Robotics - London, United Kingdom
Duration: 17 Jul 201721 Jul 2017


Conference15th IEEE International Conference on Rehabilitation Robotics
Abbreviated title ICORR 2017
CountryUnited Kingdom

ID: 29464988