Design of a Lower Limb Exoskeleton for Walking Aids
Date Issued
2015
Date
2015
Author(s)
Chang, Chia-Wei
Abstract
Lower limb exoskeleton is a powered orthosis can be worn by human to enhance users'' ability. Currently divided into military and medical aspects. Military applications help soldiers move with more weapons and reduce fatigue, or help workers transport equipment in the factory to avoid occupational injuries. In the medical purposes, it can assist the patients to rehabilitate by walking simulation, and increase the number of exercise. The study designed a lower limb exoskeleton robotic system (BimeExo), mainly used in simulating gait to assist human walking. The system with four motors mounted on the both hip and knee. For supporting the human and robot, it has two elastic pads on ankle. In safety issue, it composed of multiple security mechanisms to avoid the danger. In order to simulate human gait, the study build a human measurement system to get the angle at hip and knee. By using the gait data to create parametric gait model and researchers can analyze the different by this model. According to different users can be adjusted to different body parameters for gait motion, then put the parameters into the robot platform to get the hip and knee angle. The walking speed of the BimeExo system is about 0.05 m/s, and the speed of the up and down the stairs is about 20 s/step. The system designed five common motion, standing, sitting, walking up and down stairs for general normal use at home. The user only needs to input the height and weight into the system, and use special crutch controller and angle sensors on the body as finite state machine transition conditions. Then user can control the robot and prevent danger.
Subjects
active orthosis
exoskeleton
wearable robot
lower limb exoskeleton
gait analysis
Type
thesis
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