Pictured is the final design of our leg and back exoskeleton we brought to the 2022 ACE competition at Michigan State University. Actuation was accomplished by way of motors located at the hips and knees to move the legs in concert with the user's legs. Our design was classified as a "soft" exoskeleton since the weight needed to be placed on the user, not the exoskeleton, and so we competed in the competition with 25lbs of weight on.

Pictured is our CAD model of the knee joint and attached shin region. The knee flange is transparent to make the interface of the flange key and motor shaft more visible.

Shown in this picture is the simulation result of 66N-m being applied to the motor shaft at the knee. As seen in the color coded scale, the maximum displacement was 3.25 * 10^-2 millimeters, well within our tolerances for use. One of the ACE competition requirements was to show data that the actuated joints could handle the stresses of the competition. We found that a weight of 75lbs on the back of the exoskeleton would produce a torque of approximately 66N-m at the knee joint, hence our numbers. We picked the knee to simulate as it was the weaker of the two, with a much larger lever arm.