Table 1 Design parameters for all optimized exotendon systems. Designs A, B, and C consist of a single exotendon and a symmetric twin, each spanning one, three, or six joints respectively. Design D consists of two exotendons, each spanning six joints, plus their symmetric twins. Each exotendon has up to six moment arms r and a slack length (L slack). The cost function values are shown in the two rightmost columns. The cost function values without exotendon assistance were C mom = 14.09 N m and C pow = 20.14 W.
Moment optimized | RIGHT | LEFT | Â | Â | Â | ||||
|---|---|---|---|---|---|---|---|---|---|
| Â | r hip (mm) | r knee (mm) | r ankle (mm) | r hip (mm) | r knee (mm) | r ankle (mm) | L slack (mm) | C mom (N m) | C pow (W) |
A | N/A | N/A | -60.20 | N/A | N/A | N/A | 6.54 | 11.17 | 18.68 |
B | 21.18 | 0.23 | -34.63 | N/A | N/A | N/A | -7.77 | 7.56 | 12.26 |
C | 21.23 | -0.61 | -34.31 | -8.08 | -5.63 | 0.00 | -4.04 | 7.04 | 12.09 |
D | 7.77 | 4.25 | -23.45 | -5.24 | 0.65 | 21.91 | -24.34 | 4.08 | 5.66 |
D | -7.60 | -11.92 | -15.68 | 10.70 | -4.37 | -5.88 | -11.53 | 4.08 | 5.66 |
Power optimized | RIGHT | LEFT | Â | Â | Â | ||||
| Â | r hip (mm) | r knee (mm) | r ankle (mm) | r hip (mm) | r knee (mm) | r ankle (mm) | L slack (mm) | C mom (N m) | C pow (W) |
A | N/A | N/A | N/A | -49.83 | N/A | N/A | 1.04 | 11.97 | 18.18 |
B | 33.06 | 12.76 | -32.85 | N/A | N/A | N/A | -1.55 | 9.06 | 10.64 |
C | -10.05 | -2.74 | 13.79 | 10.87 | 3.22 | -16.12 | -89.62 | 7.57 | 9.73 |
D | -4.69 | -9.77 | -19.04 | 10.89 | -5.67 | -0.17 | -12.30 | 4.37 | 5.18 |
D | 7.47 | 3.98 | -25.11 | -6.82 | -2.18 | 24.18 | -75.33 | 4.37 | 5.18 |