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Mechanical Design of an Anthropometric Lower Extremity Exoskeletal System

Safavi, Sahba | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 41962 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Meghdari, Ali
  7. Abstract:
  8. The main scope of this research is to develop an anthropometric lower extremity exoskeleal system in a virtual environment for augmentation purposes. The main challenge in the process of doing this research is to employ the biomechanical analysis of the human locomotion to provide the necessary background information for the design of devices that closely mimic the dynamics of the operator's motion. In this case, the appropriate degrees-of-freedom and associated range of motions for each joint should be determined. In addition, the kind of necessary actuators and measurement systems should be selected based on the muscle torque consumption analysis provided by a musculoskeletal model, functional versatility and simplicity of implementation. Finally, a complete 3-D anthropometric lower extremity exoskeletal system is constructed in virtual environment employing Solid Work software
  9. Keywords:
  10. Exoskeletal System ; Musculoskeletal System ; Anthropometric Design ; Power Muscle Consumption ; Lower Extremity

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  • Chapter 1 Introduction and Literature Survey
    • 1.1 Exoskeleton concept
    • 1.2 Exoskeleton background
      • 1.2.1 DARPA Program Exoskeletons
        • 1.2.1.1 Berkeley Exoskeleton (BLEEX)
        • 1.2.1.2 Sarcos Exoskeleton
        • 1.2.1.3 MIT Exoskeleton
      • 1.2.2 Other Lower Extremity Exoskeletons
        • 1.2.2.1 Hybrid Assistive Leg
        • 1.2.2.2 Nurse-Assisting Exoskeleton
        • 1.2.2.3 RoboKnee
      • 1.2.3 Several Full Lower Limbs Exoskeletal Systems
        • 1.2.3.1 Mihailo Pupin Institute Exoskeletons
        • 1.2.3.2 University of Wisconsin Exoskeleton
    • 1.3 Thesis Overview
  • Chapter 2
    • 2.1 Introduction
    • 2.2 Biological joints
    • 2.3 Range of Motion and Degrees of Freedom of Joints
    • 2.4 Which joints should be actuated?
    • 2.5 Different types of actuators
      • 2.5.1 Hydraulic actuators
      • 2.5.2 Electric actuators
        • 2.5.2.1 Electric joint cooling
      • 2.5.3 Comparison of the joint weight and power consumption
      • 2.5.4 Series Elastic actuator
        • 2.5.4.1 Linear Series Elastic Actuator
        • 2.5.4.2 Bowden cable Series Elastic Actuator
        • 2.5.4.3 Rotary Series Elastic Actuator with bevel gears
    • 2.6 Several related works
      • 2.6.1 The Berkeley’s lower extremity exoskeleton (BLEEX)
    • 2.7 Comparison of different exoskeletal systems
    • 2.8 Conclusions
  • Chapter 3
  • Biomechanical Framework for muscle power analysis
    • 3.1 Introduction
    • 3.2 Musculoskeletal system
    • 3.3 Muscle power analysis
    • 3.4 Appropriate criterion for actuator design
      • 3.4.1 Maximum power criterion
      • 3.4.2 Maximum torque criterion
    • 3.5 Conclusions
  • Chapter 4
  • Mechanical design of exoskeletal system components
    • 4.1 Introduction
    • 4.2 Definitions
    • 4.3 Mechanical design of components for the hip, knee and ankle joints
      • 4.3.1 Design of the joint actuators
        • 4.3.1.1 Motor selection
        • 4.3.1.2 Actuators’ spring selection
        • 4.3.1.3 Selection of coupling, LVDT, and bearings
      • 4.3.2 CAM mechanism
        • 4.3.2.1 Cam mechanism Design
        • 4.3.2.2 Bearings selection
        • 4.3.2.3 Hip abduction spring selection
      • 4.3.3 Unactuated spring selection
    • 4.4 Mechanism of length’s adjustment
    • 4.5 Conclusions
  • Chapter 5
  • Conclusion and Future works
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