Design of a Passive Gait-based Ankle-foot Exoskeleton with Self-adaptive Capability

Chinese Journal of Mechanical Engineering

Table 1 Mass comparison on recent ankle-foot exoskeletons (some data are collected by Yandell et al. [27])

	Mooney et al. [7]	Witte et al. [19]		Collins et al. [1]	Ferris et al. [14]	Meijneke et al. [10]	Yandell et al. [27]	Wang et al.
Mass per leg (g)	2300	835	875	408–503	1700	1500	598	765.5
Mass at waist/back (g)	1700	0	0	0	0	5200	0	0
Powered	Yes	No	No	No	Yes	Yes	No	No