Elastic Element Exoskeleton and Method of Using Same

A method for augmenting running in a mammal, comprising the steps of:

• a) adaptively modulating anticipation of a maximum extension of an exoskeletal clutch linked to at least one elastic element, the exoskeletal clutch and the elastic element being an exoskeleton attached in parallel to at least one muscle-tendon unit of a leg of the mammal and spanning at least one joint of the mammal, to thereby estimate a predicted maximum extension of the exoskeletal clutch prior to leg strike of the mammal while running;
• b) actuating the exoskeletal clutch in advance of the predicted maximum extension of the exoskeletal clutch, to thereby cause the exoskeletal clutch to lock essentially simultaneously with the ground strike of the leg by the mammal, whereby the elastic element is engaged during a stance phase of the gait of the mammal while running;
• and
• c) disengaging the elastic element prior to or during a swing phase of the gait of the mammal, thereby augmenting running in the mammal.