An efficient robotic tendon for gait assistance

Kevin W. Hollander, Robert Ilg, Thomas Sugar, Donald Herring

Research output: Contribution to journalArticlepeer-review

152 Scopus citations


A robotic tendon is a spring based, linear actuator in which the stiffness of the spring is crucial for its successful use in a light-weight, energy efficient, powered ankle orthosis. Like its human analog, the robotic tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 77 W. In addition, ideal energy requirements are reduced from nearly 36 J to just 21 J. Using this approach, an initial prototype has provided 100% of the power and energy necessary for ankle gait in a compact 0.95 kg package, seven times less than an equivalent motor/gearbox system.

Original languageEnglish (US)
Pages (from-to)788-791
Number of pages4
JournalJournal of Biomechanical Engineering
Issue number5
StatePublished - Oct 2006

ASJC Scopus subject areas

  • Biomedical Engineering
  • Physiology (medical)


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