Two notable design evolutions since the initial concept: 1) Induction charging of the shoe increases durability and waterproofing of the design, can fit into a daily routine of leaving shoes on a charging mat at the end of the day, and coils can be physically located between the heel and the mid-foot pivot point. 2) A combination of passive and active energy components for increased efficiency. By using a split-toe design (like the DynAdapt foot prosthetic), the shoe will have increased horizontal/lateral stability on uneven surfaces, despite a purely vertical actuation. By including a passive spring component in the heel, a percentage of energy from heel strike can be returned in push off that reduces the significant energy required by the motor to push off, thus conserving battery life. Note: the motor and actuation goals will be lifting the toe (2-5rpm for 3-9mph walking speed) in the natural gait cycle rather than on powering the push off (15-20 N-m), which means we can reduce motor weight and energy usage by not requiring a certain speed as well as torque.
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