Design of a Low-Cost Lower Limb Rehabilitation Exoskeleton System

Abstract

Human locomotion is probably the single most crucial thing to carry out daily activities in a person’s life. It is hence a necessity than an option to help people walk, when they lose that essential ability, for any reason. Rehabilitation is a methodical process, usually carried out by trained professionals in this regard. With the current lifestyle, the increase in factors leading to disabilities is on the rise, and there is a pressing need to rehabilitate the needy. With a lack of specialized medical facilities and personnel to meet the rising demands, especially in many rural parts of India, a low cost rehabilitation device is necessary. The devices that exist for this purpose remain inaccessible to the masses mainly due to their cost, availability, and ability to adapt to different patients. In many of the works from literature, it is seen that actuators play a significant role in driving the costs high. Also, the designs need considerable customization for every individual patient, which makes mass production difficult. In this work, an affordable lower limb exoskeleton system is designed. This device is adaptable to the varying anthropometry of the Indian population while being affordable by the masses. Electric linear actuators are used to keep the costs low, with a simple control system. Adjustability and modularity are maintained throughout the design as an essential criterion.