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A novel underactuated mechanism to assist ankle joints in walking with a single series elastic actuator
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DOI：10.1016/j.mechmachtheory.2025.106165.png)
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Abstract
En 中文
• A novel underactuated mechanism assists bilateral ankles with one actuator. • Force transmission efficiency is improved via mechanism optimization. • An assistive strategy is proposed to adapt to different walking speeds.
Keywords:
underactuated mechanism
force transmission efficiency
assistive strategy
bilateral ankles
walking speed adaptation
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