The Optimum Spring Stiffness of the Wearable Exoskeleton

Wearable exoskeleton that need to be portable, lightweight, safe. The reasonable application of elastic element in exoskeleton can effectively reduce the power of motor, and it can increase the flexibility and safety of exoskeleton This paper analyzes two kinds of elastic structure ankle exoskeleton motor peak power is derived, and the only consider lowering the motor peak power to determine the optimal stiffness spring, and the influence of the spring stiffness to the flexibility of the exoskeleton and the peak power of the motor. Finally, considering the flexibility of the exoskeleton and the peak power of the motor, the optimal spring stiffness is determined