The VariLeg Exoskeleton
The VariLeg exoskeleton is starting to show its shape 🙂
Parts are back from coating: thank you Altefco AG!
Parts received from manufacturing.
The MACCEPA mechanism explained
Initial position: no torque in knee
With the upper MACCEPA motor, the spring is tensioned.
The lower motor moves the lever arm: the spring is out of its equilibrium position and a torque is generated in the knee.
The torque that is generated through the system on the knee moves the lower leg until the spring gets to its new equilibrium position: the lever arm is colinear with the rope and spring.