Design of a Novel Powered Exoskeleton for Human Jump Augmentation
| dc.contributor.author | Mccray, Mason Tyler | en |
| dc.contributor.committeechair | Asbeck, Alan Thomas | en |
| dc.contributor.committeemember | Bartlett, Michael David | en |
| dc.contributor.committeemember | West, Robert L. | en |
| dc.contributor.department | Mechanical Engineering | en |
| dc.date.accessioned | 2025-06-06T08:02:13Z | en |
| dc.date.available | 2025-06-06T08:02:13Z | en |
| dc.date.issued | 2025-06-05 | en |
| dc.description.abstract | Design of powered exoskeletons have typically focused on walking assistance, load carriage, and restoring lost functionality. This research presents the design of a novel powered exoskeleton for jumping assistance. The exoskeleton has a total mass of 24~kg (55~lb) and is capable of providing an additional 5000~N of launch force, allowing users to achieve vertical jump heights exceeding 2 meters. Force transmission is achieved through a prismatic linear actuator connected to a variety of soft goods to transfer forces to the user's center of mass. The underactuated exoskeleton utilizes a single motor per leg store energy in high-strain elastic and release the energy during launch. Modeling of jumping forces, results from material testing, and mechanical design analysis are presented. Encoders, inertial measurement units, and time of flight sensors are implemented alongside multiple microcontrollers and robust communication protocols to estimate system state and control actuation. Preliminary test results of a manufactured system are presented for design validation. The work establishes a test bed for further jumping biomechanics analysis, including landing from high falls and further advances in powered jumping. | en |
| dc.description.abstractgeneral | Exoskeletons are wearable devices that help improve human abilities. Most current exoskeletons focus on assisting during walking, carrying heavy loads, reducing injuries during repetitive tasks, or restoring lost functionality. The design presented here focuses on the unique challenge of assisting humans in jumping higher than they can alone. The exoskeleton presented attaches to the waist, legs, and feet, and is capable of providing enough force to allow the wearer to jump over two meters high. The exoskeleton does through use of elastic bands, which act as springs, and an electric motor. Before a jump, the motor stretches the elastic bands, and when the user is ready, these elastic bands snap back to provide a quick, powerful launch force. When not jumping, the exoskeleton allows users to comfortably walk and move their lower body in all directions. Sensors and electronics allow for control of the exoskeleton before and during a jump, allowing the user to control the exoskeleton with natural movements. Calculations and early tests show that the system works as expected, which opens the door to further research in improving jump height and allowing humans to survive falls from great heights. | en |
| dc.description.degree | Master of Science | en |
| dc.format.medium | ETD | en |
| dc.identifier.other | vt_gsexam:44227 | en |
| dc.identifier.uri | https://hdl.handle.net/10919/135089 | en |
| dc.language.iso | en | en |
| dc.publisher | Virginia Tech | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | exoskeleton | en |
| dc.subject | jump augmentation | en |
| dc.subject | lower body | en |
| dc.subject | energy storage | en |
| dc.subject | elastics | en |
| dc.title | Design of a Novel Powered Exoskeleton for Human Jump Augmentation | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | Mechanical Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | masters | en |
| thesis.degree.name | Master of Science | en |
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