Design, development and model analysis of lower extremity Exo-skeleton.

Abstract

Over the past few years the growth and development of exo-skeleton has dramatically raised with the development of precise control elements and actuation systems. Many exo-skeleton systems have been designed, developed and tested for performance optimization. In the recent years, the significance of exo-skeleton in medical fields have got increased and are used in providing therapy and rehabilitation to the patients. With this development there comes the importance for analysis and control of the exo-skeleton for precise functioning and to avoid malfunction of the system in the later part. Dynamic analysis of limb joints is essential to better facilitate a deeper understanding of the exo-skeleton limb during various environmental conditions like varied loading. The dynamic model so developed will assist in choosing an apt actuation system based on the torque requirement of the model.This paper focusses on the analysis of a 2DOF lower limb active control exo-skeleton system and makes a torque calculation for actuator selection for the lower limb to provide rehabilitation to the patients as wearable walking aid. The work also makes a trajectory planning for the lower limb to move in sequence for making a walking cycle with angular limitations to avoid damage to the user's limbs. The motion analysis for the developed lower limb Exoskeleton as per the analysis is 52.055 Nm at hip joint 11.677 Nm at knee joint.