Abstract
We propose a novel method of assisting jumping locomotion by using an ankle-foot exoskeleton robot to enable 3-Dimensional movement such as jumping over obstacles, jumping off and on buildings or cliffs. The proposed device enhances the wearer's jumping ability as vertical movement while not interfering horizontal locomotion. In this paper, we describe the mechanical design of the system, pneumatic actuators and their driver circuit, which are verified by simulation to provide the designed jumping support.
