Lower limb exoskeletons are a staple in military research because they allow soldiers to carry heavy loads without enduring the weight. The existing lower limb exoskeletons are either gas or battery powered and therefore are not practical for extended periods of time. The LEX (UCSC’s Lower Limb Exoskeleton) is designed to actuate based off of recycled pneumatic energy, which will allow for no time constraints. The human walking (gait) cycle consists of controlled falls which are essentially forward momentum. The knee acts as a damper and absorbs energy created from these falls to prevent it from fracturing bones [1]. The LEX utilizes this energy storage technique by compressing air cylinders at the knee and ankle joints upon flexion and storing the harvested energy in a reservoir tank. The pressurized air is then released into the hip and ankle joints to propel the exoskeleton forward. There are six cylinders total, one in each hip, knee, and ankle joint. Based off of force, angle, and pressure sensors, voltage controlled solenoid valves direct the flow of pressurized air at respective time intervals.

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